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2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 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'~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 19, + "ready_token": "9a93a9f430984eb4bb14c40eb1136ef3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.ready.json", + "arm_request_id": "bf7ee8fb2b6d45c9bef4be4362c784a2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2276, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989000118758, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 206, + "read_count": 1150, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989004682195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989020451530 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792830988656610110, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8681, + "displayed_count": 8506, + "dropped_count": 174, + "decode_error_count": 0, + "last_receive_time_ns": 1792830988555336494, + "last_frame_time_ns": 1792830988558854559, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989000118758, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 206, + "read_count": 1150, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989004682195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989020451530 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792830989389329104, + "ended_time_ns": 1792830989398422519, + "duration_s": 0.001108559, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989405550964, + "ended_time_ns": 1792830989405762576, + "duration_s": 0.000211612, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989405554816, + "ok": true, + "ended_time_ns": 1792830989405562409, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989405563316, + "ok": true, + "ended_time_ns": 1792830989405565927, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989405566335, + "ok": true, + "ended_time_ns": 1792830989405569335, + "duration_s": 3e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989405569649, + "ok": true, + "ended_time_ns": 1792830989405752539, + "duration_s": 0.00018289 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989405753557, + "ok": true, + "ended_time_ns": 1792830989405757094, + "duration_s": 3.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989405757576, + "ok": true, + "ended_time_ns": 1792830989405759983, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989405760354, + "ok": true, + "ended_time_ns": 1792830989405762224, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792830989406428485, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792830989000118758, + "frame_age_s": 0.406338023, + "heartbeat_age_s": 0.385988862, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989406461448, + "duration_s": 3.2963e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792830989406463485, + "status_ok": true, + "gap_mm": 84.99999999999994, + "reference_angle_deg": 101.68945312500003, + "sample_observed_time_ns": 1792830989004682195, + "sample_age_s": 0.401787882, + "heartbeat_age_s": 0.386014696, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989406473744, + "duration_s": 1.0259e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792830989406478059, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792830989406576467, + "duration_s": 9.8408e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792830989398435486, + "ended_time_ns": 1792830989489551557, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163612_00015", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163612_00015", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163612_00015", + "--control-generation", + "19", + "--ready-token", + "ad69b8f15891405c9cd68eff5a9b9706", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792830989489564950, + "ended_time_ns": 1792830989502024975, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.diagnostics.json", + "capture_start_time_ns": 1792830976528509729, + "capture_stop_time_ns": 1792830986983470622, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163612_00015", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163612_00015/right_hand", + "timing": { + "server_start_request_time_ns": 1792830973082240811, + "subprocess_popen_time_ns": 1792830973086619588, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792830973117477316, + "validate_start_time_ns": 1792830974065076378, + "session_dir_create_start_time_ns": 1792830973118547747, + "session_dir_create_end_time_ns": 1792830973119638214, + "as5600_init_start_time_ns": 1792830973120908865, + "as5600_init_end_time_ns": 1792830973121941221, + "as5600_zero_start_time_ns": 1792830973123745883, + "as5600_zero_end_time_ns": 1792830973984036375, + "camera_init_start_time_ns": 1792830973985338673, + "camera_init_end_time_ns": 1792830973987516533, + "camera_start_start_time_ns": 1792830973988593260, + "camera_start_end_time_ns": 1792830973990425977, + "camera_first_frame_wait_start_time_ns": 1792830973992065863, + "camera_first_frame_wait_end_time_ns": 1792830973993728304, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830973995384635, + "armed_time_ns": 1792830974063965448, + "waiting_t0_time_ns": 1792830974127879821, + "recording_start_time_ns": 1792830976534055602, + "stop_request_time_ns": 1792830986035361848, + "finalized_time_ns": 1792830986988821593 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830973063021839, + "ended_time_ns": 1792830973063229280, + "duration_s": 0.000207441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830973063025783, + "ok": true, + "ended_time_ns": 1792830973063033727, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830973063035338, + "ok": true, + "ended_time_ns": 1792830973063038061, + "duration_s": 2.723e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830973063038524, + "ok": true, + "ended_time_ns": 1792830973063041320, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830973063041709, + "ok": true, + "ended_time_ns": 1792830973063217466, + "duration_s": 0.000175757 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830973063218410, + "ok": true, + "ended_time_ns": 1792830973063222169, + "duration_s": 3.759e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830973063222743, + "ok": true, + "ended_time_ns": 1792830973063225984, + "duration_s": 3.241e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830973063226373, + "ok": true, + "ended_time_ns": 1792830973063228762, + "duration_s": 2.389e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 19, + "ready_token": "ad69b8f15891405c9cd68eff5a9b9706", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.ready.json", + "arm_request_id": "bf7ee8fb2b6d45c9bef4be4362c784a2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3104, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989338418368, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989334310421, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989349644167 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792830988415830945, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8987, + "displayed_count": 7306, + "dropped_count": 1680, + "decode_error_count": 0, + "last_receive_time_ns": 1792830988304120803, + "last_frame_time_ns": 1792830988333138871, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989338418368, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989334310421, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989349644167 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792830989524876251, + "ended_time_ns": 1792830989536115400, + "duration_s": 0.001104837, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989526881068, + "ended_time_ns": 1792830989527094417, + "duration_s": 0.000213349, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989526884883, + "ok": true, + "ended_time_ns": 1792830989526893012, + "duration_s": 8.129e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989526894012, + "ok": true, + "ended_time_ns": 1792830989526896938, + "duration_s": 2.926e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989526897383, + "ok": true, + "ended_time_ns": 1792830989526900327, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989526900679, + "ok": true, + "ended_time_ns": 1792830989527082454, + "duration_s": 0.000181775 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989527083732, + "ok": true, + "ended_time_ns": 1792830989527087436, + "duration_s": 3.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989527088121, + "ok": true, + "ended_time_ns": 1792830989527090917, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989527091343, + "ok": true, + "ended_time_ns": 1792830989527093862, + "duration_s": 2.519e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792830989527713891, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792830989338418368, + "frame_age_s": 0.189326744, + "heartbeat_age_s": 0.178082409, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989527749890, + "duration_s": 3.5999e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792830989527751686, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.734375, + "sample_observed_time_ns": 1792830989334310421, + "sample_age_s": 0.193448636, + "heartbeat_age_s": 0.178110316, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989527762557, + "duration_s": 1.0871e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792830989527767260, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792830989527876611, + "duration_s": 0.000109351 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792830989536137357, + "ended_time_ns": 1792830989636507463, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831388463125685, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831382789783533, + "ended_time_ns": 1792831382807283345, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831382807460302, + "ended_time_ns": 1792831382858880652, + "transferred_bytes": 13716, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,716 bytes\nTotal transferred file size: 13,716 bytes\nLiteral data: 13,716 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,852\n\nsent 46 bytes received 13,852 bytes 27,796.00 bytes/sec\ntotal size is 13,716 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831382859100072, + "ended_time_ns": 1792831388461591172, + "transferred_bytes": 13723325, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,723,325 bytes\nTotal transferred file size: 13,723,325 bytes\nLiteral data: 13,723,325 bytes\nMatched data: 0 bytes\nFile list size: 229\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,727,084\n\nsent 168 bytes received 13,727,084 bytes 2,111,884.92 bytes/sec\ntotal size is 13,723,325 speedup is 1.00" + } + ], + "transferred_bytes": 13737041, + "copied_local_bytes": 14366514, + "started_time_ns": 1792831382789149694, + "ended_time_ns": 1792831388462149097 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831382789979713, + "ended_time_ns": 1792831382808572765, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831382808738431, + "ended_time_ns": 1792831382861709209, + "transferred_bytes": 13738, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,738 bytes\nTotal transferred file size: 13,738 bytes\nLiteral data: 13,738 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,874\n\nsent 46 bytes received 13,874 bytes 27,840.00 bytes/sec\ntotal size is 13,738 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831382861904749, + "ended_time_ns": 1792831383803020926, + "transferred_bytes": 17174560, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 17,174,560 bytes\nTotal transferred file size: 17,174,560 bytes\nLiteral data: 17,174,560 bytes\nMatched data: 0 bytes\nFile list size: 220\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 17,179,154\n\nsent 168 bytes received 17,179,154 bytes 11,452,881.33 bytes/sec\ntotal size is 17,174,560 speedup is 1.00" + } + ], + "transferred_bytes": 17188298, + "copied_local_bytes": 17801519, + "started_time_ns": 1792831382789386147, + "ended_time_ns": 1792831383803576315 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163629_00016", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832834158010635, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832833702827644, + "ended_time_ns": 1792832834157792006, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832833702827644, + "ended_time_ns": 1792832833922289991, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163629_00016", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163629_00016 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163629_00016\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792830993278024334\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792830993278024334，vive_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831003437780295，vive_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005440s，first=1792830993283463908，T0=1792830993278024334，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004419s，last=1792831003433361497，Tstop=1792831003437780295，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2031\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00201797109975 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00201797109975 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2031，metadata 2031\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00201823951073 Hz，最低 150.0 Hz，时长 10.149897575378418 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00201823951073 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005866289138793945s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993765661..1.00000000068472，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.010194295577257196m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=2.5397879683786684deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=406 duration=10.15s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=406，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 406，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=405，rows=406，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=406，monotonic违规=0，估算频率=40.02768097772774Hz，最大间隔=0.032488838s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 406，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02767915001563 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02767915001563 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032488782s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 609，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 17.0505..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 609，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99999251184298 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99999251184298 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019466825s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=609，bad_rows=0，monotonic违规=0，估算频率=59.99998900065991Hz，最大间隔=0.019465991s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 406，metadata 406\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 609，metadata 609\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 406，timestamps 406，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=406，timestamps=406，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.15s，timestamps=10.117998559999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.117998559999997s，clamp=10.13333459800001s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792830993278024334，pi_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831003437780295，pi_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019964s，first=1792830993297988221，T0=1792830993278024334，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.009986s，first=1792830993288010641，T0=1792830993278024334，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021794s，last=1792831003415986781，Tstop=1792831003437780295，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.016435s，last=1792831003421345239，Tstop=1792831003437780295，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.031899s，vive=10.149897589s，camera=10.117998559999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.016563s，vive=10.149897589s，clamp=10.13333459800001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.014524s，vive_first=1792830993283463908，camera_first=1792830993297988221，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004547s，vive_first=1792830993283463908，clamp_first=1792830993288010641，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.017375s，vive_last=1792831003433361497，camera_last=1792831003415986781，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.012016s，vive_last=1792831003433361497，clamp_last=1792831003421345239，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832833922587550, + "ended_time_ns": 1792832834157792006, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163629_00016", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163629_00016 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163629_00016\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792830993278024334\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792830993278024334，vive_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831003437780295，vive_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005440s，first=1792830993283463908，T0=1792830993278024334，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004419s，last=1792831003433361497，Tstop=1792831003437780295，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2031\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00201797109975 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00201797109975 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2031，metadata 2031\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00201823951073 Hz，最低 150.0 Hz，时长 10.149897575378418 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00201823951073 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005866289138793945s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994741159..1.0000000005664416，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0045486482486722405m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=1.2736960888475974deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=407 duration=10.175s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=407，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 407，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=406，rows=407，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=407，monotonic违规=0，估算频率=40.02457881387471Hz，最大间隔=0.033129144s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 407，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02457925185088 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02457925185088 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03312957s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 610，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 35.113..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 610，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00167640545831 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00167640545831 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.017824564s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=610，bad_rows=0，monotonic违规=0，估算频率=60.00168209838778Hz，最大间隔=0.017824527s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 407，metadata 407\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 610，metadata 610\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 407，timestamps 407，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=407，timestamps=407，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=10.175s，timestamps=10.143766845000004s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=10.143766845000004s，clamp=10.149716415999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792830993278024334，pi_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831003437780295，pi_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.008561s，first=1792830993286585230，T0=1792830993278024334，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.006579s，first=1792830993284603015，T0=1792830993278024334，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007428s，last=1792831003430352075，Tstop=1792831003437780295，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003461s，last=1792831003434319431，Tstop=1792831003437780295，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006131s，vive=10.149897589s，camera=10.143766845000004s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000181s，vive=10.149897589s，clamp=10.149716415999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.003121s，vive_first=1792830993283463908，camera_first=1792830993286585230，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.001139s，vive_first=1792830993283463908，clamp_first=1792830993284603015，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.003009s，vive_last=1792831003433361497，camera_last=1792831003430352075，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000958s，vive_last=1792831003433361497，clamp_last=1792831003434319431，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163629_00016\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792830993278024334\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792830993278024334，vive_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831003437780295，vive_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005440s，first=1792830993283463908，T0=1792830993278024334，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004419s，last=1792831003433361497，Tstop=1792831003437780295，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2031\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00201797109975 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00201797109975 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2031，metadata 2031\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00201823951073 Hz，最低 150.0 Hz，时长 10.149897575378418 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00201823951073 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005866289138793945s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993765661..1.00000000068472，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.010194295577257196m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=2.5397879683786684deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=406 duration=10.15s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=406，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 406，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=405，rows=406，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=406，monotonic违规=0，估算频率=40.02768097772774Hz，最大间隔=0.032488838s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 406，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02767915001563 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02767915001563 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032488782s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 609，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 17.0505..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 609，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99999251184298 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99999251184298 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019466825s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=609，bad_rows=0，monotonic违规=0，估算频率=59.99998900065991Hz，最大间隔=0.019465991s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 406，metadata 406\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 609，metadata 609\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 406，timestamps 406，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=406，timestamps=406，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.15s，timestamps=10.117998559999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.117998559999997s，clamp=10.13333459800001s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792830993278024334，pi_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831003437780295，pi_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019964s，first=1792830993297988221，T0=1792830993278024334，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.009986s，first=1792830993288010641，T0=1792830993278024334，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021794s，last=1792831003415986781，Tstop=1792831003437780295，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.016435s，last=1792831003421345239，Tstop=1792831003437780295，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.031899s，vive=10.149897589s，camera=10.117998559999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.016563s，vive=10.149897589s，clamp=10.13333459800001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.014524s，vive_first=1792830993283463908，camera_first=1792830993297988221，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004547s，vive_first=1792830993283463908，clamp_first=1792830993288010641，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.017375s，vive_last=1792831003433361497，camera_last=1792831003415986781，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.012016s，vive_last=1792831003433361497，clamp_last=1792831003421345239，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163629_00016\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792830993278024334\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792830993278024334，vive_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831003437780295，vive_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005440s，first=1792830993283463908，T0=1792830993278024334，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004419s，last=1792831003433361497，Tstop=1792831003437780295，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2031\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00201797109975 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00201797109975 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2031，metadata 2031\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00201823951073 Hz，最低 150.0 Hz，时长 10.149897575378418 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00201823951073 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005866289138793945s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994741159..1.0000000005664416，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0045486482486722405m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=1.2736960888475974deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=407 duration=10.175s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=407，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 407，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=406，rows=407，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=407，monotonic违规=0，估算频率=40.02457881387471Hz，最大间隔=0.033129144s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 407，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02457925185088 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02457925185088 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03312957s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 610，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 35.113..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 610，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00167640545831 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00167640545831 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.017824564s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=610，bad_rows=0，monotonic违规=0，估算频率=60.00168209838778Hz，最大间隔=0.017824527s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 407，metadata 407\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 610，metadata 610\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 407，timestamps 407，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=407，timestamps=407，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=10.175s，timestamps=10.143766845000004s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=10.143766845000004s，clamp=10.149716415999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792830993278024334，pi_T0=1792830993278024334，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831003437780295，pi_Tstop=1792831003437780295，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.008561s，first=1792830993286585230，T0=1792830993278024334，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.006579s，first=1792830993284603015，T0=1792830993278024334，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007428s，last=1792831003430352075，Tstop=1792831003437780295，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003461s，last=1792831003434319431，Tstop=1792831003437780295，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006131s，vive=10.149897589s，camera=10.143766845000004s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000181s，vive=10.149897589s，clamp=10.149716415999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.003121s，vive_first=1792830993283463908，camera_first=1792830993286585230，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.001139s，vive_first=1792830993283463908，clamp_first=1792830993284603015，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.003009s，vive_last=1792831003433361497，camera_last=1792831003430352075，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000958s，vive_last=1792831003433361497，clamp_last=1792831003434319431，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163629_00016_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812855320394 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163629_00016/control/stop_left_hand.flag b/opening and closing/session_20261024_163629_00016/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..ad2103f251f093cb957613fabd9d9cbb8c408c34 --- /dev/null +++ b/opening and closing/session_20261024_163629_00016/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831003437780295 \ No newline at end of file diff --git a/opening and closing/session_20261024_163629_00016/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163629_00016/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e1c44d4896dbb10aad265ebccdfa9fd07724645 --- /dev/null +++ b/opening and closing/session_20261024_163629_00016/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,609 @@ +1792830993.288010641 99.9680 +1792830993.304677126 99.9680 +1792830993.321361555 100.0000 +1792830993.338016966 99.9680 +1792830993.354745006 99.9680 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"shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 101.70410155930843, + "reference_source": "max_open_init", + "zero_angle_deg": 101.70410155930843, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 9.074e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792830993278432284, + "camera_frame_count": 406, + "camera_started_time_ns": 1792830990659578136, + "camera_stopped_time_ns": 1792831003443455793, + "camera_actual_fps": 31.758751991629765, + "camera_first_frame_time_ns": 1792830993297988221, + "camera_last_frame_time_ns": 1792831003415986781, + "camera_frame_timestamp_fps": 40.027679150015615, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831003415986781, + "capture_count": 511, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 609, + "clamp_first_sample_time_ns": 1792830993288010641, + "clamp_last_sample_time_ns": 1792831003421345239, + "clamp_actual_hz": 59.99999251184305, + "clamp_value_min": 17.050515528578956, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 206, + "read_count": 2016, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2271 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfadae2784b936976b5fb96fae55fe8b22e7460 --- /dev/null +++ b/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792830989740579947, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163629_00016", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + 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2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163612_00015", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163612_00015", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163612_00015", + "--control-generation", + "19", + "--ready-token", + "9a93a9f430984eb4bb14c40eb1136ef3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792830989741134391, + "ended_time_ns": 1792830989758331887, + "returncode": 0, + "last_error": null, + "log_path": 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null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989405554816, + "ok": true, + "ended_time_ns": 1792830989405562409, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989405563316, + "ok": true, + "ended_time_ns": 1792830989405565927, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989405566335, + "ok": true, + "ended_time_ns": 1792830989405569335, + "duration_s": 3e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989405569649, + "ok": true, + "ended_time_ns": 1792830989405752539, + "duration_s": 0.00018289 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989405753557, + "ok": true, + "ended_time_ns": 1792830989405757094, + "duration_s": 3.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989405757576, + "ok": true, + "ended_time_ns": 1792830989405759983, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989405760354, + "ok": true, + "ended_time_ns": 1792830989405762224, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792830989406428485, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792830989000118758, + "frame_age_s": 0.406338023, + "heartbeat_age_s": 0.385988862, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989406461448, + "duration_s": 3.2963e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792830989406463485, + "status_ok": true, + "gap_mm": 84.99999999999994, + "reference_angle_deg": 101.68945312500003, + "sample_observed_time_ns": 1792830989004682195, + "sample_age_s": 0.401787882, + "heartbeat_age_s": 0.386014696, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989406473744, + "duration_s": 1.0259e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792830989406474670, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792830989406477040, + "duration_s": 2.37e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792830989406478059, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792830989406576467, + "duration_s": 9.8408e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 19, + "ready_token": "9a93a9f430984eb4bb14c40eb1136ef3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.ready.json", + "arm_request_id": "bf7ee8fb2b6d45c9bef4be4362c784a2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2276, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989525557681, + "capture_count": 626, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 206, + "read_count": 1181, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989521347708, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989526254646 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792830989711843133, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8690, + "displayed_count": 8516, + "dropped_count": 174, + "decode_error_count": 0, + "last_receive_time_ns": 1792830989613493061, + "last_frame_time_ns": 1792830989711789355, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989525557681, + "capture_count": 626, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 206, + "read_count": 1181, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989521347708, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989526254646 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989761715656, + "ended_time_ns": 1792830989772717411, + "duration_s": 0.000208556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989780729170, + "ok": true, + "ended_time_ns": 1792830989780736615, + "duration_s": 7.445e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989780738170, + "ok": true, + "ended_time_ns": 1792830989780741133, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989780741559, + "ok": true, + "ended_time_ns": 1792830989780744282, + "duration_s": 2.723e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989780744633, + "ok": true, + "ended_time_ns": 1792830989780923467, + "duration_s": 0.000178834 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989780924449, + "ok": true, + "ended_time_ns": 1792830989780927893, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989780928412, + "ok": true, + "ended_time_ns": 1792830989780930949, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989780931375, + "ok": true, + "ended_time_ns": 1792830989780933319, + "duration_s": 1.944e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163629_00016", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "f22fc53fec4444c1a8cbd6959aded025", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792830989797803045, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "timing": { + "server_start_request_time_ns": 1792830989792847033, + "subprocess_popen_time_ns": 1792830989797803045, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989780725152, + "ended_time_ns": 1792830989780933708, + "duration_s": 0.000208556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989780729170, + "ok": true, + "ended_time_ns": 1792830989780736615, + "duration_s": 7.445e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989780738170, + "ok": true, + "ended_time_ns": 1792830989780741133, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989780741559, + "ok": true, + "ended_time_ns": 1792830989780744282, + "duration_s": 2.723e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989780744633, + "ok": true, + "ended_time_ns": 1792830989780923467, + "duration_s": 0.000178834 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989780924449, + "ok": true, + "ended_time_ns": 1792830989780927893, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989780928412, + "ok": true, + "ended_time_ns": 1792830989780930949, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989780931375, + "ok": true, + "ended_time_ns": 1792830989780933319, + "duration_s": 1.944e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "f22fc53fec4444c1a8cbd6959aded025", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2277, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989525557681, + "capture_count": 626, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 206, + "read_count": 1181, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989521347708, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989526254646 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792830989711843133, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8690, + "displayed_count": 8516, + "dropped_count": 174, + "decode_error_count": 0, + "last_receive_time_ns": 1792830989613493061, + "last_frame_time_ns": 1792830989711789355, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989525557681, + "capture_count": 626, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 206, + "read_count": 1181, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989521347708, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989526254646 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792830989776647481, + "ended_time_ns": 1792830989799248789 + }, + "pi_start_request_time_ns": 1792830989799256406, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/control/stop_left_hand.flag", + "vive_start_time_ns": 1792830989802660599, + "capture_start_time_ns": 1792830993278024334, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831002567127658, + "capture_stop_time_ns": 1792831003437780295, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163629_00016", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "f22fc53fec4444c1a8cbd6959aded025", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792830989797803045, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "timing": { + "server_start_request_time_ns": 1792830989792847033, + "subprocess_popen_time_ns": 1792830989797803045, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792830989836053768, + "validate_start_time_ns": 1792830990835535562, + "session_dir_create_start_time_ns": 1792830989836798436, + "session_dir_create_end_time_ns": 1792830989837692216, + "as5600_init_start_time_ns": 1792830989841154595, + "as5600_init_end_time_ns": 1792830989842237727, + "as5600_zero_start_time_ns": 1792830989843857212, + "as5600_zero_end_time_ns": 1792830990651046263, + "camera_init_start_time_ns": 1792830990652509396, + "camera_init_end_time_ns": 1792830990659604432, + "camera_start_start_time_ns": 1792830990661953475, + "camera_start_end_time_ns": 1792830990663634312, + "camera_first_frame_wait_start_time_ns": 1792830990665398927, + "camera_first_frame_wait_end_time_ns": 1792830990666718005, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990667917582, + "armed_time_ns": 1792830990834489393, + "waiting_t0_time_ns": 1792830990837093937, + "recording_start_time_ns": 1792830993278455562, + "stop_request_time_ns": 1792831002582216092, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989780725152, + "ended_time_ns": 1792830989780933708, + "duration_s": 0.000208556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989780729170, + "ok": true, + "ended_time_ns": 1792830989780736615, + "duration_s": 7.445e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989780738170, + "ok": true, + "ended_time_ns": 1792830989780741133, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989780741559, + "ok": true, + "ended_time_ns": 1792830989780744282, + "duration_s": 2.723e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989780744633, + "ok": true, + "ended_time_ns": 1792830989780923467, + "duration_s": 0.000178834 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989780924449, + "ok": true, + "ended_time_ns": 1792830989780927893, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989780928412, + "ok": true, + "ended_time_ns": 1792830989780930949, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989780931375, + "ok": true, + "ended_time_ns": 1792830989780933319, + "duration_s": 1.944e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "f22fc53fec4444c1a8cbd6959aded025", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2277, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 19, + "last_bootstrap_time_ns": 1792830986990682218, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792830989826252077, + "capture_count": 638, + "capture_error_count": 0, + "writer_count": 419, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.68945312500003, + "gripper_gap_mm": 84.99999999999994, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 206, + "read_count": 1199, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989821346510, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989832788723 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831002567505410, + "ended_time_ns": 1792831002578680339, + "capture_stop_time_ns": 1792831003437780295, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163629_00016", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 221090 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 221396 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141825 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 222342 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 221379 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129729 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163629_00016", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "f22fc53fec4444c1a8cbd6959aded025", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831004468550917, + "ended_time_ns": 1792831004481771026, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "timing": { + "server_start_request_time_ns": 1792830989792847033, + "subprocess_popen_time_ns": 1792830989797803045, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + 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1792830990659604432, + "camera_start_start_time_ns": 1792830990661953475, + "camera_start_end_time_ns": 1792830990663634312, + "camera_first_frame_wait_start_time_ns": 1792830990665398927, + "camera_first_frame_wait_end_time_ns": 1792830990666718005, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990667917582, + "armed_time_ns": 1792830990834489393, + "waiting_t0_time_ns": 1792830990837093937, + "recording_start_time_ns": 1792830993278455562, + "stop_request_time_ns": 1792831002583632374, + "finalized_time_ns": 1792831003445246427 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989780725152, + "ended_time_ns": 1792830989780933708, + "duration_s": 0.000208556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989780729170, + "ok": true, + "ended_time_ns": 1792830989780736615, + "duration_s": 7.445e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989780738170, + "ok": true, + "ended_time_ns": 1792830989780741133, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989780741559, + "ok": true, + "ended_time_ns": 1792830989780744282, + "duration_s": 2.723e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989780744633, + "ok": true, + "ended_time_ns": 1792830989780923467, + "duration_s": 0.000178834 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989780924449, + "ok": true, + "ended_time_ns": 1792830989780927893, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989780928412, + "ok": true, + "ended_time_ns": 1792830989780930949, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989780931375, + "ok": true, + "ended_time_ns": 1792830989780933319, + "duration_s": 1.944e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "f22fc53fec4444c1a8cbd6959aded025", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2277, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831004242180341, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831004256843432, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831004262311816 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831003505418387, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8808, + "displayed_count": 8625, + "dropped_count": 181, + "decode_error_count": 0, + "last_receive_time_ns": 1792831003400634504, + "last_frame_time_ns": 1792831003378071708, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831004242180341, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831004256843432, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831004262311816 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831004525245136, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831004525244702 + } + }, + "updated_time_ns": 1792831004525246527 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7d0df8830c4fbfef312f9e7d473971d2ae82a31e --- /dev/null +++ b/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792830989805232607, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "effective_capture_stop_time_ns": 1792831003437780295, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.16138014197349548, + "y0": -0.7430071234703064, + "z0": -0.6108623147010803, + "qx0": 0.09487664270469638, + "qy0": 0.7287521933650649, + "qz0": -0.12383018891400831, + "qw0": 0.6667718857661993 + }, + "zero_reference_sample_ns": 1792830993283463908 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 2031, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + "recording_invalid_pose_reads": 0, + "started_time_ns": 1792830993278337874, + "effective_record_start_time_ns": 1792830993278337874, + 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和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 277.7397560569349, + "reference_source": "max_open_init", + "zero_angle_deg": 277.7397560569349, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 2.6481e-05, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792830993279678949, + "camera_frame_count": 407, + "camera_started_time_ns": 1792830990679371727, + "camera_stopped_time_ns": 1792831003443121632, + "camera_actual_fps": 31.88718072896149, + "camera_first_frame_time_ns": 1792830993286585230, + "camera_last_frame_time_ns": 1792831003430352075, + "camera_frame_timestamp_fps": 40.024579251850895, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831003430352075, + "capture_count": 511, + "capture_error_count": 0, + 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"main_loop_iterations": 2284 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..27e68e4236d6cf0eec8c74bfc58079fbc56ce742 --- /dev/null +++ b/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792830989739125619, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163629_00016", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163629_00016/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + 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"--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "--ready-file", 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"warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792830989526773607, + "ended_time_ns": 1792830989527878444, + "duration_s": 0.001104837, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989526881068, + "ended_time_ns": 1792830989527094417, + "duration_s": 0.000213349, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989526884883, + "ok": true, + "ended_time_ns": 1792830989526893012, + "duration_s": 8.129e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989526894012, + "ok": true, + "ended_time_ns": 1792830989526896938, + "duration_s": 2.926e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989526897383, + "ok": true, + "ended_time_ns": 1792830989526900327, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989526900679, + "ok": true, + "ended_time_ns": 1792830989527082454, + "duration_s": 0.000181775 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989527083732, + "ok": true, + "ended_time_ns": 1792830989527087436, + "duration_s": 3.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989527088121, + "ok": true, + "ended_time_ns": 1792830989527090917, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989527091343, + "ok": true, + "ended_time_ns": 1792830989527093862, + "duration_s": 2.519e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792830989527713891, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792830989338418368, + "frame_age_s": 0.189326744, + "heartbeat_age_s": 0.178082409, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989527749890, + "duration_s": 3.5999e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792830989527751686, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.734375, + "sample_observed_time_ns": 1792830989334310421, + "sample_age_s": 0.193448636, + "heartbeat_age_s": 0.178110316, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792830989527762557, + "duration_s": 1.0871e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792830989527763575, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792830989527765964, + "duration_s": 2.389e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792830989527767260, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792830989527876611, + "duration_s": 0.000109351 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 19, + "ready_token": "ad69b8f15891405c9cd68eff5a9b9706", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163612_00015.ready.json", + "arm_request_id": "bf7ee8fb2b6d45c9bef4be4362c784a2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3104, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989338418368, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989334310421, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989349644167 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792830989512633846, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8997, + "displayed_count": 7314, + "dropped_count": 1682, + "decode_error_count": 0, + "last_receive_time_ns": 1792830989397838355, + "last_frame_time_ns": 1792830989434710543, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989338418368, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989334310421, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989349644167 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989762593675, + "ended_time_ns": 1792830989775236205, + "duration_s": 0.000209442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989765706614, + "ok": true, + "ended_time_ns": 1792830989765714836, + "duration_s": 8.222e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989765716855, + "ok": true, + "ended_time_ns": 1792830989765719318, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989765719743, + "ok": true, + "ended_time_ns": 1792830989765722484, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989765722817, + "ok": true, + "ended_time_ns": 1792830989765900352, + "duration_s": 0.000177535 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989765901667, + "ok": true, + "ended_time_ns": 1792830989765905148, + "duration_s": 3.481e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989765905685, + "ok": true, + "ended_time_ns": 1792830989765908982, + "duration_s": 3.297e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989765909334, + "ok": true, + "ended_time_ns": 1792830989765911741, + "duration_s": 2.407e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163629_00016", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "617abb04a5fe4bcca7356af6dc68195a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792830989844470887, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": 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"capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989765702688, + "ended_time_ns": 1792830989765912130, + "duration_s": 0.000209442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989765706614, + "ok": true, + "ended_time_ns": 1792830989765714836, + "duration_s": 8.222e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989765716855, + "ok": true, + "ended_time_ns": 1792830989765719318, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989765719743, + "ok": true, + "ended_time_ns": 1792830989765722484, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989765722817, + "ok": true, + "ended_time_ns": 1792830989765900352, + "duration_s": 0.000177535 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989765901667, + "ok": true, + "ended_time_ns": 1792830989765905148, + "duration_s": 3.481e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989765905685, + "ok": true, + "ended_time_ns": 1792830989765908982, + "duration_s": 3.297e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989765909334, + "ok": true, + "ended_time_ns": 1792830989765911741, + "duration_s": 2.407e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "617abb04a5fe4bcca7356af6dc68195a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3105, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989338418368, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989334310421, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989349644167 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792830989512633846, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8997, + "displayed_count": 7314, + "dropped_count": 1682, + "decode_error_count": 0, + "last_receive_time_ns": 1792830989397838355, + "last_frame_time_ns": 1792830989434710543, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163612_00015", + "generation": 19, + "session_count": 19, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989338418368, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989334310421, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989349644167 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792830989778831490, + "ended_time_ns": 1792830989859547867 + }, + "pi_start_request_time_ns": 1792830989859555585, + "capture_start_time_ns": 1792830993278024334, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831002632254075, + "capture_stop_time_ns": 1792831003437780295, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163629_00016", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "617abb04a5fe4bcca7356af6dc68195a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792830989844470887, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "timing": { + "server_start_request_time_ns": 1792830989778908017, + "subprocess_popen_time_ns": 1792830989844470887, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792830989859759003, + "validate_start_time_ns": 1792830990803140730, + "session_dir_create_start_time_ns": 1792830989860812656, + "session_dir_create_end_time_ns": 1792830989863281235, + "as5600_init_start_time_ns": 1792830989864859400, + "as5600_init_end_time_ns": 1792830989866209771, + "as5600_zero_start_time_ns": 1792830989869747337, + "as5600_zero_end_time_ns": 1792830990675362946, + "camera_init_start_time_ns": 1792830990677409678, + "camera_init_end_time_ns": 1792830990679381690, + "camera_start_start_time_ns": 1792830990681270276, + "camera_start_end_time_ns": 1792830990682611148, + "camera_first_frame_wait_start_time_ns": 1792830990684000389, + "camera_first_frame_wait_end_time_ns": 1792830990689686834, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990692514816, + "armed_time_ns": 1792830990800279082, + "waiting_t0_time_ns": 1792830990804564564, + "recording_start_time_ns": 1792830993279691246, + "stop_request_time_ns": 1792831002633118135, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989765702688, + "ended_time_ns": 1792830989765912130, + "duration_s": 0.000209442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989765706614, + "ok": true, + "ended_time_ns": 1792830989765714836, + "duration_s": 8.222e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989765716855, + "ok": true, + "ended_time_ns": 1792830989765719318, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989765719743, + "ok": true, + "ended_time_ns": 1792830989765722484, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989765722817, + "ok": true, + "ended_time_ns": 1792830989765900352, + "duration_s": 0.000177535 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989765901667, + "ok": true, + "ended_time_ns": 1792830989765905148, + "duration_s": 3.481e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989765905685, + "ok": true, + "ended_time_ns": 1792830989765908982, + "duration_s": 3.297e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989765909334, + "ok": true, + "ended_time_ns": 1792830989765911741, + "duration_s": 2.407e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "617abb04a5fe4bcca7356af6dc68195a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3105, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 19, + "last_bootstrap_time_ns": 1792830987802979165, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792830989838551520, + "capture_count": 635, + "capture_error_count": 0, + "writer_count": 418, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792830989850985025, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792830989856043496 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831002632700826, + "ended_time_ns": 1792831002647345930, + "capture_stop_time_ns": 1792831003437780295, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163629_00016", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "617abb04a5fe4bcca7356af6dc68195a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831004677282465, + "ended_time_ns": 1792831004691105241, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "timing": { + "server_start_request_time_ns": 1792830989778908017, + "subprocess_popen_time_ns": 1792830989844470887, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, 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1792830990679381690, + "camera_start_start_time_ns": 1792830990681270276, + "camera_start_end_time_ns": 1792830990682611148, + "camera_first_frame_wait_start_time_ns": 1792830990684000389, + "camera_first_frame_wait_end_time_ns": 1792830990689686834, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990692514816, + "armed_time_ns": 1792830990800279082, + "waiting_t0_time_ns": 1792830990804564564, + "recording_start_time_ns": 1792830993279691246, + "stop_request_time_ns": 1792831002636513572, + "finalized_time_ns": 1792831003446887934 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989765702688, + "ended_time_ns": 1792830989765912130, + "duration_s": 0.000209442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989765706614, + "ok": true, + "ended_time_ns": 1792830989765714836, + "duration_s": 8.222e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989765716855, + "ok": true, + "ended_time_ns": 1792830989765719318, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989765719743, + "ok": true, + "ended_time_ns": 1792830989765722484, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989765722817, + "ok": true, + "ended_time_ns": 1792830989765900352, + "duration_s": 0.000177535 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989765901667, + "ok": true, + "ended_time_ns": 1792830989765905148, + "duration_s": 3.481e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989765905685, + "ok": true, + "ended_time_ns": 1792830989765908982, + "duration_s": 3.297e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989765909334, + "ok": true, + "ended_time_ns": 1792830989765911741, + "duration_s": 2.407e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "617abb04a5fe4bcca7356af6dc68195a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3105, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831004253827693, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831004254942493, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831004260365108 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831004247566182, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9125, + "displayed_count": 7396, + "dropped_count": 1727, + "decode_error_count": 0, + "last_receive_time_ns": 1792831004160603182, + "last_frame_time_ns": 1792831004157730404, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831004253827693, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831004254942493, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831004260365108 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792831004694116268 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3b088df4eb3876795813438f76440beac8ea85ff --- /dev/null +++ b/opening and closing/session_20261024_163629_00016/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792830989805248237, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": 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"4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "f22fc53fec4444c1a8cbd6959aded025", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2277, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831005764821942, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831005773511907, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831005777596047 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831005720601186, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8827, + "displayed_count": 8644, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792831005623141487, + "last_frame_time_ns": 1792831005595556216, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831005764821942, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831005773511907, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831005777596047 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831005926077720, + "ended_time_ns": 1792831005935947017, + "duration_s": 0.001078854, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831005942759355, + "ended_time_ns": 1792831005942996115, + "duration_s": 0.00023676, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831005942763133, + "ok": true, + "ended_time_ns": 1792831005942771077, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831005942772207, + "ok": true, + "ended_time_ns": 1792831005942774836, + "duration_s": 2.629e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831005942775355, + "ok": true, + "ended_time_ns": 1792831005942778077, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831005942778448, + "ok": true, + "ended_time_ns": 1792831005942985911, + "duration_s": 0.000207463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831005942987078, + "ok": true, + "ended_time_ns": 1792831005942990374, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831005942990874, + "ok": true, + "ended_time_ns": 1792831005942993448, + "duration_s": 2.574e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831005942993781, + "ok": true, + "ended_time_ns": 1792831005942995744, + "duration_s": 1.963e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831005943616579, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831005764821942, + "frame_age_s": 0.178822211, + "heartbeat_age_s": 0.166032014, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831005943648172, + "duration_s": 3.1593e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831005943649857, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 100.68603515764632, + "sample_observed_time_ns": 1792831005773511907, + "sample_age_s": 0.170145672, + "heartbeat_age_s": 0.166056921, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831005943660913, + "duration_s": 1.1056e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831005943665265, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831005943759376, + "duration_s": 9.4111e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831005935971121, + "ended_time_ns": 1792831006037445823, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163629_00016", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "617abb04a5fe4bcca7356af6dc68195a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831006037461327, + "ended_time_ns": 1792831006048858163, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "timing": { + "server_start_request_time_ns": 1792830989778908017, + "subprocess_popen_time_ns": 1792830989844470887, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792830989859759003, + "validate_start_time_ns": 1792830990803140730, + "session_dir_create_start_time_ns": 1792830989860812656, + "session_dir_create_end_time_ns": 1792830989863281235, + "as5600_init_start_time_ns": 1792830989864859400, + "as5600_init_end_time_ns": 1792830989866209771, + "as5600_zero_start_time_ns": 1792830989869747337, + "as5600_zero_end_time_ns": 1792830990675362946, + "camera_init_start_time_ns": 1792830990677409678, + "camera_init_end_time_ns": 1792830990679381690, + "camera_start_start_time_ns": 1792830990681270276, + "camera_start_end_time_ns": 1792830990682611148, + "camera_first_frame_wait_start_time_ns": 1792830990684000389, + "camera_first_frame_wait_end_time_ns": 1792830990689686834, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990692514816, + "armed_time_ns": 1792830990800279082, + "waiting_t0_time_ns": 1792830990804564564, + "recording_start_time_ns": 1792830993279691246, + "stop_request_time_ns": 1792831002636513572, + "finalized_time_ns": 1792831003446887934 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792830989765702688, + "ended_time_ns": 1792830989765912130, + "duration_s": 0.000209442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792830989765706614, + "ok": true, + "ended_time_ns": 1792830989765714836, + "duration_s": 8.222e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792830989765716855, + "ok": true, + "ended_time_ns": 1792830989765719318, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792830989765719743, + "ok": true, + "ended_time_ns": 1792830989765722484, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792830989765722817, + "ok": true, + "ended_time_ns": 1792830989765900352, + "duration_s": 0.000177535 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792830989765901667, + "ok": true, + "ended_time_ns": 1792830989765905148, + "duration_s": 3.481e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792830989765905685, + "ok": true, + "ended_time_ns": 1792830989765908982, + "duration_s": 3.297e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792830989765909334, + "ok": true, + "ended_time_ns": 1792830989765911741, + "duration_s": 2.407e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "617abb04a5fe4bcca7356af6dc68195a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3105, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831005777547474, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831005771607811, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831005779223360 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831005310139305, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9135, + "displayed_count": 7403, + "dropped_count": 1730, + "decode_error_count": 0, + "last_receive_time_ns": 1792831005269024247, + "last_frame_time_ns": 1792831005190756578, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, 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"http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831006242149519, + "ended_time_ns": 1792831006946058696, + "duration_s": 0.113820354, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831006242068348, + "ended_time_ns": 1792831006242283826, + "duration_s": 0.000215478, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831006242072199, + "ok": true, + "ended_time_ns": 1792831006242080292, + "duration_s": 8.093e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831006242081255, + "ok": true, + "ended_time_ns": 1792831006242084218, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831006242084662, + "ok": true, + "ended_time_ns": 1792831006242087551, + "duration_s": 2.889e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831006242087903, + "ok": true, + "ended_time_ns": 1792831006242271623, + "duration_s": 0.00018372 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831006242272864, + "ok": true, + "ended_time_ns": 1792831006242276512, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831006242277049, + "ok": true, + "ended_time_ns": 1792831006242280308, + "duration_s": 3.259e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831006242280641, + "ok": true, + "ended_time_ns": 1792831006242283400, + "duration_s": 2.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831006355559836, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831005777547474, + "frame_age_s": 0.57805238, + "heartbeat_age_s": 0.576353698, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831006355605410, + "duration_s": 4.5574e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831006355607651, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.470703125, + "sample_observed_time_ns": 1792831005771607811, + "sample_age_s": 0.584009339, + "heartbeat_age_s": 0.576387476, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831006355621502, + "duration_s": 1.3851e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831006355626447, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831006355802518, + "duration_s": 0.000176071 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831006946085968, + "ended_time_ns": 1792831007043750073, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831382774753720, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831376985061566, + "ended_time_ns": 1792831376998072486, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831376998151832, + "ended_time_ns": 1792831377049867285, + "transferred_bytes": 13702, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,702 bytes\nTotal transferred file size: 13,702 bytes\nLiteral data: 13,702 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,837\n\nsent 46 bytes received 13,837 bytes 9,255.33 bytes/sec\ntotal size is 13,702 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831377050060879, + "ended_time_ns": 1792831382773189033, + "transferred_bytes": 13706310, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,706,310 bytes\nTotal transferred file size: 13,706,310 bytes\nLiteral data: 13,706,310 bytes\nMatched data: 0 bytes\nFile list size: 230\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,710,066\n\nsent 168 bytes received 13,710,066 bytes 2,492,769.82 bytes/sec\ntotal size is 13,706,310 speedup is 1.00" + } + ], + "transferred_bytes": 13720012, + "copied_local_bytes": 14348184, + "started_time_ns": 1792831376984738793, + "ended_time_ns": 1792831382773774737 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831376985149672, + "ended_time_ns": 1792831377000411219, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831377000485180, + "ended_time_ns": 1792831377043263240, + "transferred_bytes": 13740, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,740 bytes\nTotal transferred file size: 13,740 bytes\nLiteral data: 13,740 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,875\n\nsent 46 bytes received 13,875 bytes 9,280.67 bytes/sec\ntotal size is 13,740 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831377043469606, + "ended_time_ns": 1792831378001486858, + "transferred_bytes": 17246381, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 17,246,381 bytes\nTotal transferred file size: 17,246,381 bytes\nLiteral data: 17,246,381 bytes\nMatched data: 0 bytes\nFile list size: 218\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 17,250,993\n\nsent 168 bytes received 17,250,993 bytes 34,502,322.00 bytes/sec\ntotal size is 17,246,381 speedup is 1.00" + } + ], + "transferred_bytes": 17260121, + "copied_local_bytes": 17874971, + "started_time_ns": 1792831376984906159, + "ended_time_ns": 1792831378001880638 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163647_00017", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832834146243540, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832833699868994, + "ended_time_ns": 1792832834145926369, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832833699868994, + "ended_time_ns": 1792832833919104743, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163647_00017", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163647_00017 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163647_00017\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831011601244450\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831011601244450，vive_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831021776689063，vive_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006641s，first=1792831011607885661，T0=1792831011601244450，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004090s，last=1792831021772599281，Tstop=1792831021776689063，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2034\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00563478737732 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00563478737732 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2034，metadata 2034\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00563476495546 Hz，最低 150.0 Hz，时长 10.164713621139526 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00563476495546 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006397724151611328s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992389939..1.0000000007102552，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.007305697318152384m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.6520558681401831deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=407 duration=10.175s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=407，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 407，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=406，rows=407，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=407，monotonic违规=0，估算频率=40.02674418658175Hz，最大间隔=0.033307358s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 407，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02674572558348 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02674572558348 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033306877s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 611，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 19.0019..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 611，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999988672789016 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999988672789016 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021520348s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=611，bad_rows=0，monotonic违规=0，估算频率=59.99998987082139Hz，最大间隔=0.021522127s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 407，metadata 407\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 611，metadata 611\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 407，timestamps 407，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=407，timestamps=407，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.175s，timestamps=10.143217807000012s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=10.143217807000012s，clamp=10.166668586000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831011601244450，pi_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831021776689063，pi_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010405s，first=1792831011611649550，T0=1792831011601244450，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.005602s，first=1792831011606846483，T0=1792831011601244450，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021822s，last=1792831021754867357，Tstop=1792831021776689063，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003174s，last=1792831021773515069，Tstop=1792831021776689063，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021496s，vive=10.16471362s，camera=10.143217807000012s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001955s，vive=10.16471362s，clamp=10.166668586000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.003764s，vive_first=1792831011607885661，camera_first=1792831011611649550，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001039s，vive_first=1792831011607885661，clamp_first=1792831011606846483，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.017732s，vive_last=1792831021772599281，camera_last=1792831021754867357，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000916s，vive_last=1792831021772599281，clamp_last=1792831021773515069，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832833919489634, + "ended_time_ns": 1792832834145926369, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163647_00017", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163647_00017 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163647_00017\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831011601244450\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831011601244450，vive_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831021776689063，vive_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006641s，first=1792831011607885661，T0=1792831011601244450，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004090s，last=1792831021772599281，Tstop=1792831021776689063，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2034\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00563478737732 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00563478737732 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2034，metadata 2034\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00563476495546 Hz，最低 150.0 Hz，时长 10.164713621139526 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00563476495546 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006397724151611328s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994484873..1.0000000005647383，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0031617736868221604m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9595563942544937deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=406 duration=10.15s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=406，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 406，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=405，rows=406，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=406，monotonic违规=0，估算频率=39.93490459488629Hz，最大间隔=0.065700869s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 406，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.93490539425344 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.93490539425344 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.065700795s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.246305%，missing=1，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 611，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 32.2613..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 611，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.9994209347689 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9994209347689 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018933291s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=611，bad_rows=0，monotonic违规=0，估算频率=59.99941623715512Hz，最大间隔=0.018931106s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 406，metadata 406\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 611，metadata 611\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 406，timestamps 406，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=406，timestamps=406，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.008s，video=10.15s，timestamps=10.141503930000013s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.025s，camera=10.141503930000013s，clamp=10.166764787000016s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831011601244450，pi_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831021776689063，pi_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.024584s，first=1792831011625828543，T0=1792831011601244450，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003684s，first=1792831011604928907，T0=1792831011601244450，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.009357s，last=1792831021767332473，Tstop=1792831021776689063，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004995s，last=1792831021771693694，Tstop=1792831021776689063，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.023210s，vive=10.16471362s，camera=10.141503930000013s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.002051s，vive=10.16471362s，clamp=10.166764787000016s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.017943s，vive_first=1792831011607885661，camera_first=1792831011625828543，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002957s，vive_first=1792831011607885661，clamp_first=1792831011604928907，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.005267s，vive_last=1792831021772599281，camera_last=1792831021767332473，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000906s，vive_last=1792831021772599281，clamp_last=1792831021771693694，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163647_00017\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831011601244450\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831011601244450，vive_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831021776689063，vive_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006641s，first=1792831011607885661，T0=1792831011601244450，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004090s，last=1792831021772599281，Tstop=1792831021776689063，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2034\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00563478737732 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00563478737732 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2034，metadata 2034\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00563476495546 Hz，最低 150.0 Hz，时长 10.164713621139526 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00563476495546 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006397724151611328s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992389939..1.0000000007102552，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.007305697318152384m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.6520558681401831deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=407 duration=10.175s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=407，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 407，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=406，rows=407，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=407，monotonic违规=0，估算频率=40.02674418658175Hz，最大间隔=0.033307358s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 407，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02674572558348 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02674572558348 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033306877s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 611，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 19.0019..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 611，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999988672789016 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999988672789016 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021520348s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=611，bad_rows=0，monotonic违规=0，估算频率=59.99998987082139Hz，最大间隔=0.021522127s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 407，metadata 407\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 611，metadata 611\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 407，timestamps 407，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=407，timestamps=407，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.175s，timestamps=10.143217807000012s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=10.143217807000012s，clamp=10.166668586000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831011601244450，pi_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831021776689063，pi_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010405s，first=1792831011611649550，T0=1792831011601244450，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.005602s，first=1792831011606846483，T0=1792831011601244450，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021822s，last=1792831021754867357，Tstop=1792831021776689063，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003174s，last=1792831021773515069，Tstop=1792831021776689063，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021496s，vive=10.16471362s，camera=10.143217807000012s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001955s，vive=10.16471362s，clamp=10.166668586000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.003764s，vive_first=1792831011607885661，camera_first=1792831011611649550，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001039s，vive_first=1792831011607885661，clamp_first=1792831011606846483，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.017732s，vive_last=1792831021772599281，camera_last=1792831021754867357，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000916s，vive_last=1792831021772599281，clamp_last=1792831021773515069，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163647_00017\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831011601244450\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831011601244450，vive_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831021776689063，vive_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006641s，first=1792831011607885661，T0=1792831011601244450，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004090s，last=1792831021772599281，Tstop=1792831021776689063，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2034\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00563478737732 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00563478737732 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2034，metadata 2034\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00563476495546 Hz，最低 150.0 Hz，时长 10.164713621139526 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00563476495546 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006397724151611328s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994484873..1.0000000005647383，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0031617736868221604m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9595563942544937deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=406 duration=10.15s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=406，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 406，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=405，rows=406，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=406，monotonic违规=0，估算频率=39.93490459488629Hz，最大间隔=0.065700869s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 406，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.93490539425344 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.93490539425344 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.065700795s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.246305%，missing=1，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 611，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 32.2613..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 611，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.9994209347689 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9994209347689 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018933291s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=611，bad_rows=0，monotonic违规=0，估算频率=59.99941623715512Hz，最大间隔=0.018931106s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 406，metadata 406\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 611，metadata 611\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 406，timestamps 406，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=406，timestamps=406，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.008s，video=10.15s，timestamps=10.141503930000013s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.025s，camera=10.141503930000013s，clamp=10.166764787000016s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831011601244450，pi_T0=1792831011601244450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831021776689063，pi_Tstop=1792831021776689063，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.024584s，first=1792831011625828543，T0=1792831011601244450，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003684s，first=1792831011604928907，T0=1792831011601244450，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.009357s，last=1792831021767332473，Tstop=1792831021776689063，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004995s，last=1792831021771693694，Tstop=1792831021776689063，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.023210s，vive=10.16471362s，camera=10.141503930000013s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.002051s，vive=10.16471362s，clamp=10.166764787000016s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.017943s，vive_first=1792831011607885661，camera_first=1792831011625828543，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002957s，vive_first=1792831011607885661，clamp_first=1792831011604928907，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.005267s，vive_last=1792831021772599281，camera_last=1792831021767332473，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000906s，vive_last=1792831021772599281，clamp_last=1792831021771693694，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163647_00017_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812849449671 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163647_00017/control/stop_left_hand.flag b/opening and closing/session_20261024_163647_00017/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..21dd5dbd02c0e69bb8211c6fc7d4e0e832112481 --- /dev/null +++ b/opening and closing/session_20261024_163647_00017/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831021776689063 \ No newline at end of file diff --git a/opening and closing/session_20261024_163647_00017/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163647_00017/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..44f156e85ae927a9d8e8468d9b1c6e6382f81825 --- /dev/null +++ b/opening and closing/session_20261024_163647_00017/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,611 @@ +1792831011.606846483 100.0000 +1792831011.623544486 100.0000 +1792831011.640187323 100.0000 +1792831011.656847197 100.0000 +1792831011.673570589 100.0000 +1792831011.690188185 100.0000 +1792831011.706850744 100.0000 +1792831011.723515969 100.0000 +1792831011.740188695 100.0000 +1792831011.756850402 100.0000 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"read_count": 1100, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2279 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6c77c399db359171465549a548f9851608a0643a --- /dev/null +++ b/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831007137918113, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163647_00017", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163629_00016", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "f22fc53fec4444c1a8cbd6959aded025", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831007138459545, + "ended_time_ns": 1792831007159705977, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/left_hand", + "timing": { + "server_start_request_time_ns": 1792830989792847033, + "subprocess_popen_time_ns": 1792830989797803045, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792830989836053768, + "validate_start_time_ns": 1792830990835535562, + "session_dir_create_start_time_ns": 1792830989836798436, + "session_dir_create_end_time_ns": 1792830989837692216, + "as5600_init_start_time_ns": 1792830989841154595, + "as5600_init_end_time_ns": 1792830989842237727, + "as5600_zero_start_time_ns": 1792830989843857212, + "as5600_zero_end_time_ns": 1792830990651046263, + "camera_init_start_time_ns": 1792830990652509396, + "camera_init_end_time_ns": 1792830990659604432, + "camera_start_start_time_ns": 1792830990661953475, + "camera_start_end_time_ns": 1792830990663634312, + "camera_first_frame_wait_start_time_ns": 1792830990665398927, + "camera_first_frame_wait_end_time_ns": 1792830990666718005, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990667917582, + "armed_time_ns": 1792830990834489393, + "waiting_t0_time_ns": 1792830990837093937, + "recording_start_time_ns": 1792830993278455562, + "stop_request_time_ns": 1792831002583632374, + "finalized_time_ns": 1792831003445246427 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831005942681855, + "ended_time_ns": 1792831005943760709, + "duration_s": 0.001078854, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831005942759355, + "ended_time_ns": 1792831005942996115, + "duration_s": 0.00023676, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831005942763133, + "ok": true, + "ended_time_ns": 1792831005942771077, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831005942772207, + "ok": true, + "ended_time_ns": 1792831005942774836, + "duration_s": 2.629e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831005942775355, + "ok": true, + "ended_time_ns": 1792831005942778077, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831005942778448, + "ok": true, + "ended_time_ns": 1792831005942985911, + "duration_s": 0.000207463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831005942987078, + "ok": true, + "ended_time_ns": 1792831005942990374, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831005942990874, + "ok": true, + "ended_time_ns": 1792831005942993448, + "duration_s": 2.574e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831005942993781, + "ok": true, + "ended_time_ns": 1792831005942995744, + "duration_s": 1.963e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831005943616579, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831005764821942, + "frame_age_s": 0.178822211, + "heartbeat_age_s": 0.166032014, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831005943648172, + "duration_s": 3.1593e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831005943649857, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 100.68603515764632, + "sample_observed_time_ns": 1792831005773511907, + "sample_age_s": 0.170145672, + "heartbeat_age_s": 0.166056921, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831005943660913, + "duration_s": 1.1056e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831005943661950, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831005943664172, + "duration_s": 2.222e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831005943665265, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831005943759376, + "duration_s": 9.4111e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "f22fc53fec4444c1a8cbd6959aded025", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2277, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831006763791458, + "capture_count": 645, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831006774970411, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831006786756087 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831006871886257, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8837, + "displayed_count": 8654, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792831006777015175, + "last_frame_time_ns": 1792831006768327654, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831006763791458, + "capture_count": 645, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831006774970411, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831006786756087 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007162829236, + "ended_time_ns": 1792831007172495044, + "duration_s": 0.000206556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007179414762, + "ok": true, + "ended_time_ns": 1792831007179422466, + "duration_s": 7.704e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007179424484, + "ok": true, + "ended_time_ns": 1792831007179427225, + "duration_s": 2.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007179427725, + "ok": true, + "ended_time_ns": 1792831007179430466, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007179430818, + "ok": true, + "ended_time_ns": 1792831007179607485, + "duration_s": 0.000176667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007179608614, + "ok": true, + "ended_time_ns": 1792831007179611596, + "duration_s": 2.982e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007179612188, + "ok": true, + "ended_time_ns": 1792831007179614614, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007179614985, + "ok": true, + "ended_time_ns": 1792831007179616874, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163647_00017", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "b96c15944db94ae9874c474108b0887e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831007198758809, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "timing": { + "server_start_request_time_ns": 1792831007193902612, + "subprocess_popen_time_ns": 1792831007198758809, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007179410688, + "ended_time_ns": 1792831007179617244, + "duration_s": 0.000206556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007179414762, + "ok": true, + "ended_time_ns": 1792831007179422466, + "duration_s": 7.704e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007179424484, + "ok": true, + "ended_time_ns": 1792831007179427225, + "duration_s": 2.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007179427725, + "ok": true, + "ended_time_ns": 1792831007179430466, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007179430818, + "ok": true, + "ended_time_ns": 1792831007179607485, + "duration_s": 0.000176667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007179608614, + "ok": true, + "ended_time_ns": 1792831007179611596, + "duration_s": 2.982e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007179612188, + "ok": true, + "ended_time_ns": 1792831007179614614, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007179614985, + "ok": true, + "ended_time_ns": 1792831007179616874, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "b96c15944db94ae9874c474108b0887e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2278, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831006763791458, + "capture_count": 645, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831006774970411, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831006786756087 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831006871886257, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8837, + "displayed_count": 8654, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792831006777015175, + "last_frame_time_ns": 1792831006768327654, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831006763791458, + "capture_count": 645, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831006774970411, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831006786756087 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831007176433016, + "ended_time_ns": 1792831007198752005 + }, + "pi_start_request_time_ns": 1792831007198760231, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831007202091920, + "capture_start_time_ns": 1792831011601244450, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831020840400170, + "capture_stop_time_ns": 1792831021776689063, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163647_00017", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "b96c15944db94ae9874c474108b0887e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831007198758809, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": 1792831011601244450, + "capture_stop_time_ns": 1792831021776689063, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "timing": { + "server_start_request_time_ns": 1792831007193902612, + "subprocess_popen_time_ns": 1792831007198758809, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831007248839282, + "validate_start_time_ns": 1792831009142957414, + "session_dir_create_start_time_ns": 1792831007249929470, + "session_dir_create_end_time_ns": 1792831007251013010, + "as5600_init_start_time_ns": 1792831007252649754, + "as5600_init_end_time_ns": 1792831007254179184, + "as5600_zero_start_time_ns": 1792831007256153985, + "as5600_zero_end_time_ns": 1792831008064539427, + "camera_init_start_time_ns": 1792831008066412117, + "camera_init_end_time_ns": 1792831008070689146, + "camera_start_start_time_ns": 1792831008071769686, + "camera_start_end_time_ns": 1792831008079568631, + "camera_first_frame_wait_start_time_ns": 1792831008081159412, + "camera_first_frame_wait_end_time_ns": 1792831008082482860, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831008083676567, + "armed_time_ns": 1792831009139852943, + "waiting_t0_time_ns": 1792831009145232660, + "recording_start_time_ns": 1792831011602240786, + "stop_request_time_ns": 1792831020857284847, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007179410688, + "ended_time_ns": 1792831007179617244, + "duration_s": 0.000206556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007179414762, + "ok": true, + "ended_time_ns": 1792831007179422466, + "duration_s": 7.704e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007179424484, + "ok": true, + "ended_time_ns": 1792831007179427225, + "duration_s": 2.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007179427725, + "ok": true, + "ended_time_ns": 1792831007179430466, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007179430818, + "ok": true, + "ended_time_ns": 1792831007179607485, + "duration_s": 0.000176667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007179608614, + "ok": true, + "ended_time_ns": 1792831007179611596, + "duration_s": 2.982e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007179612188, + "ok": true, + "ended_time_ns": 1792831007179614614, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007179614985, + "ok": true, + "ended_time_ns": 1792831007179616874, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "b96c15944db94ae9874c474108b0887e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2278, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004258761233, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831007238887388, + "capture_count": 664, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.68603515764632, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 228, + "max_queue_depth": 228, + "read_count": 228, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831007240181280, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831007244904050 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831020840765292, + "ended_time_ns": 1792831020853665389, + "capture_stop_time_ns": 1792831021776689063, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163647_00017", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 219582 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 221683 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141748 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 223586 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 221706 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129771 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163647_00017", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "b96c15944db94ae9874c474108b0887e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831022806041908, + "ended_time_ns": 1792831022843111265, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": 1792831011601244450, + "capture_stop_time_ns": 1792831021776689063, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "timing": { + "server_start_request_time_ns": 1792831007193902612, + "subprocess_popen_time_ns": 1792831007198758809, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831007248839282, + "validate_start_time_ns": 1792831009142957414, + "session_dir_create_start_time_ns": 1792831007249929470, + "session_dir_create_end_time_ns": 1792831007251013010, + "as5600_init_start_time_ns": 1792831007252649754, + "as5600_init_end_time_ns": 1792831007254179184, + "as5600_zero_start_time_ns": 1792831007256153985, + "as5600_zero_end_time_ns": 1792831008064539427, + "camera_init_start_time_ns": 1792831008066412117, + "camera_init_end_time_ns": 1792831008070689146, + "camera_start_start_time_ns": 1792831008071769686, + "camera_start_end_time_ns": 1792831008079568631, + "camera_first_frame_wait_start_time_ns": 1792831008081159412, + "camera_first_frame_wait_end_time_ns": 1792831008082482860, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831008083676567, + "armed_time_ns": 1792831009139852943, + "waiting_t0_time_ns": 1792831009145232660, + "recording_start_time_ns": 1792831011602240786, + "stop_request_time_ns": 1792831020859149185, + "finalized_time_ns": 1792831021783258667 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007179410688, + "ended_time_ns": 1792831007179617244, + "duration_s": 0.000206556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007179414762, + "ok": true, + "ended_time_ns": 1792831007179422466, + "duration_s": 7.704e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007179424484, + "ok": true, + "ended_time_ns": 1792831007179427225, + "duration_s": 2.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007179427725, + "ok": true, + "ended_time_ns": 1792831007179430466, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007179430818, + "ok": true, + "ended_time_ns": 1792831007179607485, + "duration_s": 0.000176667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007179608614, + "ok": true, + "ended_time_ns": 1792831007179611596, + "duration_s": 2.982e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007179612188, + "ok": true, + "ended_time_ns": 1792831007179614614, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007179614985, + "ok": true, + "ended_time_ns": 1792831007179616874, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + 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+ "clamp_sample_count": 611, + "clamp_first_sample_time_ns": 1792831011604928907, + "clamp_last_sample_time_ns": 1792831021771693694, + "clamp_actual_hz": 59.99942093476899, + "clamp_value_min": 32.2613267186472, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 280, + "read_count": 1100, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2282 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3c5472a5581e254c49896f9bed1bbf5078f503 --- /dev/null +++ b/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831007143272107, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163647_00017", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163647_00017/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + 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2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163629_00016", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163629_00016", + "--control-generation", + "20", + "--ready-token", + "617abb04a5fe4bcca7356af6dc68195a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831007143872245, + "ended_time_ns": 1792831007162874755, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.diagnostics.json", + "capture_start_time_ns": 1792830993278024334, + "capture_stop_time_ns": 1792831003437780295, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163629_00016/right_hand", + "timing": { + "server_start_request_time_ns": 1792830989778908017, + "subprocess_popen_time_ns": 1792830989844470887, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792830989859759003, + "validate_start_time_ns": 1792830990803140730, + "session_dir_create_start_time_ns": 1792830989860812656, + "session_dir_create_end_time_ns": 1792830989863281235, + "as5600_init_start_time_ns": 1792830989864859400, + "as5600_init_end_time_ns": 1792830989866209771, + "as5600_zero_start_time_ns": 1792830989869747337, + "as5600_zero_end_time_ns": 1792830990675362946, + "camera_init_start_time_ns": 1792830990677409678, + "camera_init_end_time_ns": 1792830990679381690, + "camera_start_start_time_ns": 1792830990681270276, + "camera_start_end_time_ns": 1792830990682611148, + "camera_first_frame_wait_start_time_ns": 1792830990684000389, + "camera_first_frame_wait_end_time_ns": 1792830990689686834, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792830990692514816, + "armed_time_ns": 1792830990800279082, + "waiting_t0_time_ns": 1792830990804564564, + "recording_start_time_ns": 1792830993279691246, + "stop_request_time_ns": 1792831002636513572, + "finalized_time_ns": 1792831003446887934 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831006241984201, + "ended_time_ns": 1792831006355804555, + "duration_s": 0.113820354, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831006242068348, + "ended_time_ns": 1792831006242283826, + "duration_s": 0.000215478, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831006242072199, + "ok": true, + "ended_time_ns": 1792831006242080292, + "duration_s": 8.093e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831006242081255, + "ok": true, + "ended_time_ns": 1792831006242084218, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831006242084662, + "ok": true, + "ended_time_ns": 1792831006242087551, + "duration_s": 2.889e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831006242087903, + "ok": true, + "ended_time_ns": 1792831006242271623, + "duration_s": 0.00018372 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831006242272864, + "ok": true, + "ended_time_ns": 1792831006242276512, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831006242277049, + "ok": true, + "ended_time_ns": 1792831006242280308, + "duration_s": 3.259e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831006242280641, + "ok": true, + "ended_time_ns": 1792831006242283400, + "duration_s": 2.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831006355559836, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831005777547474, + "frame_age_s": 0.57805238, + "heartbeat_age_s": 0.576353698, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831006355605410, + "duration_s": 4.5574e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831006355607651, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.470703125, + "sample_observed_time_ns": 1792831005771607811, + "sample_age_s": 0.584009339, + "heartbeat_age_s": 0.576387476, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831006355621502, + "duration_s": 1.3851e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831006355622613, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831006355625095, + "duration_s": 2.482e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831006355626447, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831006355802518, + "duration_s": 0.000176071 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 20, + "ready_token": "617abb04a5fe4bcca7356af6dc68195a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163629_00016.ready.json", + "arm_request_id": "5616841c39a3408eba2d25a5061bd9ee", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3105, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831005777547474, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831005771607811, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831005779223360 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831006423058663, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9144, + "displayed_count": 7411, + "dropped_count": 1731, + "decode_error_count": 0, + "last_receive_time_ns": 1792831006319317474, + "last_frame_time_ns": 1792831006287844235, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831005777547474, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831005771607811, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831005779223360 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007165892487, + "ended_time_ns": 1792831008068733104, + "duration_s": 0.000207756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007166300675, + "ok": true, + "ended_time_ns": 1792831007166308768, + "duration_s": 8.093e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007166310268, + "ok": true, + "ended_time_ns": 1792831007166312934, + "duration_s": 2.666e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007166313416, + "ok": true, + "ended_time_ns": 1792831007166316397, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007166316768, + "ok": true, + "ended_time_ns": 1792831007166491969, + "duration_s": 0.000175201 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007166493062, + "ok": true, + "ended_time_ns": 1792831007166496710, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007166497414, + "ok": true, + "ended_time_ns": 1792831007166500599, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007166501117, + "ok": true, + "ended_time_ns": 1792831007166503839, + "duration_s": 2.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163647_00017", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "3b834812792843fcadbc7408862dffc5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831008111615507, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "timing": { + "server_start_request_time_ns": 1792831008106491592, + "subprocess_popen_time_ns": 1792831008111615507, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007166296620, + "ended_time_ns": 1792831007166504376, + "duration_s": 0.000207756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007166300675, + "ok": true, + "ended_time_ns": 1792831007166308768, + "duration_s": 8.093e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007166310268, + "ok": true, + "ended_time_ns": 1792831007166312934, + "duration_s": 2.666e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007166313416, + "ok": true, + "ended_time_ns": 1792831007166316397, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007166316768, + "ok": true, + "ended_time_ns": 1792831007166491969, + "duration_s": 0.000175201 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007166493062, + "ok": true, + "ended_time_ns": 1792831007166496710, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007166497414, + "ok": true, + "ended_time_ns": 1792831007166500599, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007166501117, + "ok": true, + "ended_time_ns": 1792831007166503839, + "duration_s": 2.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "3b834812792843fcadbc7408862dffc5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3106, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831006277080634, + "capture_count": 625, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 84.67370430324736, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831006271574779, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831006284045525 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831007491510581, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9153, + "displayed_count": 7419, + "dropped_count": 1732, + "decode_error_count": 0, + "last_receive_time_ns": 1792831007385471365, + "last_frame_time_ns": 1792831007383111137, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163629_00016", + "generation": 20, + "session_count": 20, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831006277080634, + "capture_count": 625, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 84.67370430324736, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831006271574779, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831006284045525 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831008107839440, + "ended_time_ns": 1792831008129844976 + }, + "pi_start_request_time_ns": 1792831008129852402, + "capture_start_time_ns": 1792831011601244450, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831020937560620, + "capture_stop_time_ns": 1792831021776689063, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163647_00017", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "3b834812792843fcadbc7408862dffc5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831008111615507, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": 1792831011601244450, + "capture_stop_time_ns": 1792831021776689063, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "timing": { + "server_start_request_time_ns": 1792831008106491592, + "subprocess_popen_time_ns": 1792831008111615507, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831008118153404, + "validate_start_time_ns": 1792831009129587302, + "session_dir_create_start_time_ns": 1792831008118885487, + "session_dir_create_end_time_ns": 1792831008119918492, + "as5600_init_start_time_ns": 1792831008121255493, + "as5600_init_end_time_ns": 1792831008180833867, + "as5600_zero_start_time_ns": 1792831008182745268, + "as5600_zero_end_time_ns": 1792831008990944011, + "camera_init_start_time_ns": 1792831008992413825, + "camera_init_end_time_ns": 1792831008994296634, + "camera_start_start_time_ns": 1792831008995166641, + "camera_start_end_time_ns": 1792831008996491661, + "camera_first_frame_wait_start_time_ns": 1792831008997932864, + "camera_first_frame_wait_end_time_ns": 1792831008999582491, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831009001106916, + "armed_time_ns": 1792831009128628241, + "waiting_t0_time_ns": 1792831009131099634, + "recording_start_time_ns": 1792831011606847253, + "stop_request_time_ns": 1792831020936402637, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007166296620, + "ended_time_ns": 1792831007166504376, + "duration_s": 0.000207756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007166300675, + "ok": true, + "ended_time_ns": 1792831007166308768, + "duration_s": 8.093e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007166310268, + "ok": true, + "ended_time_ns": 1792831007166312934, + "duration_s": 2.666e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007166313416, + "ok": true, + "ended_time_ns": 1792831007166316397, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007166316768, + "ok": true, + "ended_time_ns": 1792831007166491969, + "duration_s": 0.000175201 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007166493062, + "ok": true, + "ended_time_ns": 1792831007166496710, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007166497414, + "ok": true, + "ended_time_ns": 1792831007166500599, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007166501117, + "ok": true, + "ended_time_ns": 1792831007166503839, + "duration_s": 2.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "3b834812792843fcadbc7408862dffc5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3106, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 20, + "last_bootstrap_time_ns": 1792831004256884135, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831008101941225, + "capture_count": 698, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.470703125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 280, + "max_queue_depth": 280, + "read_count": 280, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831008104941779, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831008114733115 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831020937983130, + "ended_time_ns": 1792831020948946300, + "capture_stop_time_ns": 1792831021776689063, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163647_00017", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "3b834812792843fcadbc7408862dffc5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831025795706495, + "ended_time_ns": 1792831025808764552, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": 1792831011601244450, + "capture_stop_time_ns": 1792831021776689063, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "timing": { + "server_start_request_time_ns": 1792831008106491592, + "subprocess_popen_time_ns": 1792831008111615507, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831008118153404, + "validate_start_time_ns": 1792831009129587302, + "session_dir_create_start_time_ns": 1792831008118885487, + "session_dir_create_end_time_ns": 1792831008119918492, + "as5600_init_start_time_ns": 1792831008121255493, + "as5600_init_end_time_ns": 1792831008180833867, + "as5600_zero_start_time_ns": 1792831008182745268, + "as5600_zero_end_time_ns": 1792831008990944011, + "camera_init_start_time_ns": 1792831008992413825, + "camera_init_end_time_ns": 1792831008994296634, + "camera_start_start_time_ns": 1792831008995166641, + "camera_start_end_time_ns": 1792831008996491661, + "camera_first_frame_wait_start_time_ns": 1792831008997932864, + "camera_first_frame_wait_end_time_ns": 1792831008999582491, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831009001106916, + "armed_time_ns": 1792831009128628241, + "waiting_t0_time_ns": 1792831009131099634, + "recording_start_time_ns": 1792831011606847253, + "stop_request_time_ns": 1792831020940712174, + "finalized_time_ns": 1792831021784220624 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007166296620, + "ended_time_ns": 1792831007166504376, + "duration_s": 0.000207756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007166300675, + "ok": true, + "ended_time_ns": 1792831007166308768, + "duration_s": 8.093e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007166310268, + "ok": true, + "ended_time_ns": 1792831007166312934, + "duration_s": 2.666e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007166313416, + "ok": true, + "ended_time_ns": 1792831007166316397, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007166316768, + "ok": true, + "ended_time_ns": 1792831007166491969, + "duration_s": 0.000175201 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007166493062, + "ok": true, + "ended_time_ns": 1792831007166496710, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007166497414, + "ok": true, + "ended_time_ns": 1792831007166500599, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007166501117, + "ok": true, + "ended_time_ns": 1792831007166503839, + "duration_s": 2.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "3b834812792843fcadbc7408862dffc5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3106, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831025743589396, + "capture_count": 670, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": 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"tactile_init_end_time_ns": null, + "ready_time_ns": 1792831008083676567, + "armed_time_ns": 1792831009139852943, + "waiting_t0_time_ns": 1792831009145232660, + "recording_start_time_ns": 1792831011602240786, + "stop_request_time_ns": 1792831020859149185, + "finalized_time_ns": 1792831021783258667 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831007179410688, + "ended_time_ns": 1792831007179617244, + "duration_s": 0.000206556, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831007179414762, + "ok": true, + "ended_time_ns": 1792831007179422466, + "duration_s": 7.704e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831007179424484, + "ok": true, + "ended_time_ns": 1792831007179427225, + "duration_s": 2.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831007179427725, + "ok": true, + "ended_time_ns": 1792831007179430466, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831007179430818, + "ok": true, + "ended_time_ns": 1792831007179607485, + "duration_s": 0.000176667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831007179608614, + "ok": true, + "ended_time_ns": 1792831007179611596, + "duration_s": 2.982e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831007179612188, + "ok": true, + "ended_time_ns": 1792831007179614614, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831007179614985, + "ok": true, + "ended_time_ns": 1792831007179616874, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "b96c15944db94ae9874c474108b0887e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2278, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831026628682864, + "capture_count": 743, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 292, + "max_queue_depth": 292, + "read_count": 292, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831026642336416, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831026646126296 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831026088648203, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9003, + "displayed_count": 8811, + "dropped_count": 191, + "decode_error_count": 0, + "last_receive_time_ns": 1792831025990760465, + "last_frame_time_ns": 1792831025988388848, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831026628682864, + "capture_count": 743, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 292, + "max_queue_depth": 292, + "read_count": 292, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831026642336416, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831026646126296 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + 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0.000210815, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027005687075, + "ok": true, + "ended_time_ns": 1792831027005694335, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027005695335, + "ok": true, + "ended_time_ns": 1792831027005698020, + "duration_s": 2.685e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027005698446, + "ok": true, + "ended_time_ns": 1792831027005701427, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027005701760, + "ok": true, + "ended_time_ns": 1792831027005883298, + "duration_s": 0.000181538 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027005884483, + "ok": true, + "ended_time_ns": 1792831027005888131, + "duration_s": 3.648e-06 + }, 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true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "3b834812792843fcadbc7408862dffc5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3106, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831026764356507, + "capture_count": 711, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 299, + "max_queue_depth": 299, + "read_count": 299, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831026757219248, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831026773876346 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831026120945235, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9316, + "displayed_count": 7528, + "dropped_count": 1786, + "decode_error_count": 0, + "last_receive_time_ns": 1792831026114105768, + "last_frame_time_ns": 1792831026036771199, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831026764356507, + "capture_count": 711, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 299, + "max_queue_depth": 299, + "read_count": 299, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831026757219248, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831026773876346 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831027150186400, + "ended_time_ns": 1792831027159701984, + "duration_s": 0.001101505, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027149008751, + "ended_time_ns": 1792831027149229563, + "duration_s": 0.000220812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027149012047, + "ok": true, + "ended_time_ns": 1792831027149020121, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027149021029, + "ok": true, + "ended_time_ns": 1792831027149023566, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027149024010, + "ok": true, + "ended_time_ns": 1792831027149026880, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027149027214, + "ok": true, + "ended_time_ns": 1792831027149217230, + "duration_s": 0.000190016 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027149218193, + "ok": true, + "ended_time_ns": 1792831027149222396, + "duration_s": 4.203e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027149222915, + "ok": true, + "ended_time_ns": 1792831027149226082, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027149226545, + "ok": true, + "ended_time_ns": 1792831027149229082, + "duration_s": 2.537e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831027149863703, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831026764356507, + "frame_age_s": 0.385537973, + "heartbeat_age_s": 0.37599969, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831027149898980, + "duration_s": 3.5277e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831027149901110, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.8186035168867, + "sample_observed_time_ns": 1792831026757219248, + "sample_age_s": 0.392689843, + "heartbeat_age_s": 0.376027523, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831027149912943, + "duration_s": 1.1833e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831027149917665, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831027150026701, + "duration_s": 0.000109036 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831027159722640, + "ended_time_ns": 1792831027268650364, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831376979430653, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831370816236638, + "ended_time_ns": 1792831370828124683, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831370828205639, + "ended_time_ns": 1792831370872052518, + "transferred_bytes": 13700, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,700 bytes\nTotal transferred file size: 13,700 bytes\nLiteral data: 13,700 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,836\n\nsent 46 bytes received 13,836 bytes 27,764.00 bytes/sec\ntotal size is 13,700 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831370872364408, + "ended_time_ns": 1792831376978577300, + "transferred_bytes": 14470735, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 14,470,735 bytes\nTotal transferred file size: 14,470,735 bytes\nLiteral data: 14,470,735 bytes\nMatched data: 0 bytes\nFile list size: 229\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 14,474,678\n\nsent 168 bytes received 14,474,678 bytes 2,226,899.38 bytes/sec\ntotal size is 14,470,735 speedup is 1.00" + } + ], + "transferred_bytes": 14484435, + "copied_local_bytes": 15145689, + "started_time_ns": 1792831370815871266, + "ended_time_ns": 1792831376978840046 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831370816213445, + "ended_time_ns": 1792831370831639620, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831370831707249, + "ended_time_ns": 1792831370873348937, + "transferred_bytes": 13728, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,728 bytes\nTotal transferred file size: 13,728 bytes\nLiteral data: 13,728 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,864\n\nsent 46 bytes received 13,864 bytes 27,820.00 bytes/sec\ntotal size is 13,728 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831370873559154, + "ended_time_ns": 1792831371860888230, + "transferred_bytes": 18216375, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 18,216,375 bytes\nTotal transferred file size: 18,216,375 bytes\nLiteral data: 18,216,375 bytes\nMatched data: 0 bytes\nFile list size: 220\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 18,221,217\n\nsent 168 bytes received 18,221,217 bytes 12,147,590.00 bytes/sec\ntotal size is 18,216,375 speedup is 1.00" + } + ], + "transferred_bytes": 18230103, + "copied_local_bytes": 18876405, + "started_time_ns": 1792831370815994796, + "ended_time_ns": 1792831371861103662 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163707_00018", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832833670168567, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832833220671922, + "ended_time_ns": 1792832833669928752, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832833220671922, + "ended_time_ns": 1792832833443853072, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163707_00018", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163707_00018 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163707_00018\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831030931339718\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831030931339718，vive_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831041874542571，vive_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008490s，first=1792831030939829221，T0=1792831030931339718，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004974s，last=1792831041869568634，Tstop=1792831041874542571，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2187\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00476840279813 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00476840279813 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2187，metadata 2187\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0047672636726 Hz，最低 150.0 Hz，时长 10.929739475250244 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0047672636726 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.00594639778137207s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993221531..1.0000000006681466，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.009603681184112743m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=2.3584457504091016deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=438 duration=10.95s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=438，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 438，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=437，rows=438，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=438，monotonic违规=0，估算频率=40.02434750849681Hz，最大间隔=0.036527552s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 438，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02434900413747 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02434900413747 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.036527348s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 656，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 16.5067..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 656，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00022444114491 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00022444114491 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021550553s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=656，bad_rows=0，monotonic违规=0，估算频率=60.000224336716634Hz，最大间隔=0.021550812s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 438，metadata 438\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 656，metadata 656\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 438，timestamps 438，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=438，timestamps=438，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.95s，timestamps=10.918353724s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=10.918353724s，clamp=10.916625831s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831030931339718，pi_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831041874542571，pi_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017465s，first=1792831030948804455，T0=1792831030931339718，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.010988s，first=1792831030942327291，T0=1792831030931339718，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007384s，last=1792831041867158179，Tstop=1792831041874542571，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015589s，last=1792831041858953122，Tstop=1792831041874542571，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011386s，vive=10.929739413s，camera=10.918353724s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.013114s，vive=10.929739413s，clamp=10.916625831s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.008975s，vive_first=1792831030939829221，camera_first=1792831030948804455，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002498s，vive_first=1792831030939829221，clamp_first=1792831030942327291，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002410s，vive_last=1792831041869568634，camera_last=1792831041867158179，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010616s，vive_last=1792831041869568634，clamp_last=1792831041858953122，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832833444135177, + "ended_time_ns": 1792832833669928752, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163707_00018", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163707_00018 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163707_00018\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831030931339718\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831030931339718，vive_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831041874542571，vive_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008490s，first=1792831030939829221，T0=1792831030931339718，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004974s，last=1792831041869568634，Tstop=1792831041874542571，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2187\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00476840279813 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00476840279813 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2187，metadata 2187\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0047672636726 Hz，最低 150.0 Hz，时长 10.929739475250244 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0047672636726 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.00594639778137207s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993979791..1.0000000005771486，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.002703889748895464m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.8294946938092373deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=438 duration=10.95s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=438，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 438，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=437，rows=438，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=438，monotonic违规=0，估算频率=40.02592946390023Hz，最大间隔=0.032194749s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 438，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02593061504802 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02593061504802 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032194544s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 657，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.2265..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 657，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000011301221676 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000011301221676 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018972476s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=657，bad_rows=0，monotonic违规=0，估算频率=60.000015060369634Hz，最大间隔=0.018973587s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 438，metadata 438\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 657，metadata 657\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 438，timestamps 438，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=438，timestamps=438，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.95s，timestamps=10.917922288999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.917922288999995s，clamp=10.933331273999993s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831030931339718，pi_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831041874542571，pi_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005337s，first=1792831030936676605，T0=1792831030931339718，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.009218s，first=1792831030940557518，T0=1792831030931339718，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.019944s，last=1792831041854598894，Tstop=1792831041874542571，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000654s，last=1792831041873888792，Tstop=1792831041874542571，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011817s，vive=10.929739413s，camera=10.917922288999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003592s，vive=10.929739413s，clamp=10.933331273999993s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.003153s，vive_first=1792831030939829221，camera_first=1792831030936676605，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000728s，vive_first=1792831030939829221，clamp_first=1792831030940557518，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.014970s，vive_last=1792831041869568634，camera_last=1792831041854598894，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004320s，vive_last=1792831041869568634，clamp_last=1792831041873888792，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163707_00018\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831030931339718\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831030931339718，vive_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831041874542571，vive_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008490s，first=1792831030939829221，T0=1792831030931339718，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004974s，last=1792831041869568634，Tstop=1792831041874542571，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2187\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00476840279813 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00476840279813 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2187，metadata 2187\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0047672636726 Hz，最低 150.0 Hz，时长 10.929739475250244 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0047672636726 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.00594639778137207s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993221531..1.0000000006681466，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.009603681184112743m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=2.3584457504091016deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=438 duration=10.95s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=438，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 438，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=437，rows=438，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=438，monotonic违规=0，估算频率=40.02434750849681Hz，最大间隔=0.036527552s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 438，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02434900413747 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02434900413747 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.036527348s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 656，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 16.5067..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 656，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00022444114491 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00022444114491 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021550553s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=656，bad_rows=0，monotonic违规=0，估算频率=60.000224336716634Hz，最大间隔=0.021550812s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 438，metadata 438\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 656，metadata 656\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 438，timestamps 438，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=438，timestamps=438，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.95s，timestamps=10.918353724s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=10.918353724s，clamp=10.916625831s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831030931339718，pi_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831041874542571，pi_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017465s，first=1792831030948804455，T0=1792831030931339718，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.010988s，first=1792831030942327291，T0=1792831030931339718，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007384s，last=1792831041867158179，Tstop=1792831041874542571，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015589s，last=1792831041858953122，Tstop=1792831041874542571，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011386s，vive=10.929739413s，camera=10.918353724s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.013114s，vive=10.929739413s，clamp=10.916625831s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.008975s，vive_first=1792831030939829221，camera_first=1792831030948804455，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002498s，vive_first=1792831030939829221，clamp_first=1792831030942327291，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002410s，vive_last=1792831041869568634，camera_last=1792831041867158179，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010616s，vive_last=1792831041869568634，clamp_last=1792831041858953122，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163707_00018\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831030931339718\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831030931339718，vive_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831041874542571，vive_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008490s，first=1792831030939829221，T0=1792831030931339718，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004974s，last=1792831041869568634，Tstop=1792831041874542571，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2187\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00476840279813 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00476840279813 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2187，metadata 2187\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0047672636726 Hz，最低 150.0 Hz，时长 10.929739475250244 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0047672636726 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.00594639778137207s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993979791..1.0000000005771486，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.002703889748895464m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.8294946938092373deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=438 duration=10.95s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=438，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 438，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=437，rows=438，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=438，monotonic违规=0，估算频率=40.02592946390023Hz，最大间隔=0.032194749s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 438，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02593061504802 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02593061504802 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032194544s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 657，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.2265..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 657，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000011301221676 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000011301221676 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018972476s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=657，bad_rows=0，monotonic违规=0，估算频率=60.000015060369634Hz，最大间隔=0.018973587s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 438，metadata 438\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 657，metadata 657\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 438，timestamps 438，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=438，timestamps=438，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.95s，timestamps=10.917922288999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.917922288999995s，clamp=10.933331273999993s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831030931339718，pi_T0=1792831030931339718，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831041874542571，pi_Tstop=1792831041874542571，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005337s，first=1792831030936676605，T0=1792831030931339718，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.009218s，first=1792831030940557518，T0=1792831030931339718，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.019944s，last=1792831041854598894，Tstop=1792831041874542571，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000654s，last=1792831041873888792，Tstop=1792831041874542571，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011817s，vive=10.929739413s，camera=10.917922288999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003592s，vive=10.929739413s，clamp=10.933331273999993s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.003153s，vive_first=1792831030939829221，camera_first=1792831030936676605，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000728s，vive_first=1792831030939829221，clamp_first=1792831030940557518，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.014970s，vive_last=1792831041869568634，camera_last=1792831041854598894，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004320s，vive_last=1792831041869568634，clamp_last=1792831041873888792，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163707_00018_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812843658937 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163707_00018/control/stop_left_hand.flag b/opening and closing/session_20261024_163707_00018/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..11e893de973d3338f4b9750b9a5819f58691eba0 --- /dev/null +++ b/opening and closing/session_20261024_163707_00018/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831041874542571 \ No newline at end of file diff --git a/opening and closing/session_20261024_163707_00018/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163707_00018/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..73596d795f00510abe2b9cf3b0f6f0a24ea903f9 --- /dev/null +++ b/opening 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和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 101.77734375, + "reference_source": "max_open_init", + "zero_angle_deg": 101.77734375, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 8.63e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831030932643008, + "camera_frame_count": 438, + "camera_started_time_ns": 1792831028341835557, + "camera_stopped_time_ns": 1792831041878891874, + "camera_actual_fps": 32.3556310724625, + "camera_first_frame_time_ns": 1792831030948804455, + "camera_last_frame_time_ns": 1792831041867158179, + "camera_frame_timestamp_fps": 40.02434900413747, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831041867158179, + "capture_count": 542, + "capture_error_count": 0, + "writer_count": 438, 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2417 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e470a24f97cc1df50278fd1817a395bee0380205 --- /dev/null +++ b/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831027399998443, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163707_00018", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163647_00017", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "b96c15944db94ae9874c474108b0887e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831027400549817, + "ended_time_ns": 1792831027420513429, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": 1792831011601244450, + "capture_stop_time_ns": 1792831021776689063, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/left_hand", + "timing": { + "server_start_request_time_ns": 1792831007193902612, + "subprocess_popen_time_ns": 1792831007198758809, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831007248839282, + "validate_start_time_ns": 1792831009142957414, + "session_dir_create_start_time_ns": 1792831007249929470, + "session_dir_create_end_time_ns": 1792831007251013010, + "as5600_init_start_time_ns": 1792831007252649754, + "as5600_init_end_time_ns": 1792831007254179184, + "as5600_zero_start_time_ns": 1792831007256153985, + "as5600_zero_end_time_ns": 1792831008064539427, + "camera_init_start_time_ns": 1792831008066412117, + "camera_init_end_time_ns": 1792831008070689146, + "camera_start_start_time_ns": 1792831008071769686, + "camera_start_end_time_ns": 1792831008079568631, + "camera_first_frame_wait_start_time_ns": 1792831008081159412, + "camera_first_frame_wait_end_time_ns": 1792831008082482860, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831008083676567, + "armed_time_ns": 1792831009139852943, + "waiting_t0_time_ns": 1792831009145232660, + "recording_start_time_ns": 1792831011602240786, + "stop_request_time_ns": 1792831020859149185, + "finalized_time_ns": 1792831021783258667 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831027005605186, + "ended_time_ns": 1792831027006678726, + "duration_s": 0.00107354, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027005683335, + "ended_time_ns": 1792831027005894150, + "duration_s": 0.000210815, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027005687075, + "ok": true, + "ended_time_ns": 1792831027005694335, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027005695335, + "ok": true, + "ended_time_ns": 1792831027005698020, + "duration_s": 2.685e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027005698446, + "ok": true, + "ended_time_ns": 1792831027005701427, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027005701760, + "ok": true, + "ended_time_ns": 1792831027005883298, + "duration_s": 0.000181538 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027005884483, + "ok": true, + "ended_time_ns": 1792831027005888131, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027005888594, + "ok": true, + "ended_time_ns": 1792831027005891483, + "duration_s": 2.889e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027005891835, + "ok": true, + "ended_time_ns": 1792831027005893761, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831027006532355, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831026628682864, + "frame_age_s": 0.377877065, + "heartbeat_age_s": 0.360417059, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831027006564003, + "duration_s": 3.1648e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831027006565689, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.7736816418867, + "sample_observed_time_ns": 1792831026642336416, + "sample_age_s": 0.364236476, + "heartbeat_age_s": 0.360442281, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831027006576689, + "duration_s": 1.1e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831027006577651, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831027006580152, + "duration_s": 2.501e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831027006581170, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831027006677263, + "duration_s": 9.6093e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "b96c15944db94ae9874c474108b0887e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2278, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831027151343466, + "capture_count": 764, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027142333666, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027152456376 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831027137164505, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9012, + "displayed_count": 8820, + "dropped_count": 191, + "decode_error_count": 0, + "last_receive_time_ns": 1792831027038517581, + "last_frame_time_ns": 1792831027034350293, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831027151343466, + "capture_count": 764, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027142333666, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027152456376 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": 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.-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 22, + "ready_token": "402826f89ae64784b181a309f0be10d3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2279, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831027151343466, + "capture_count": 764, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027142333666, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027152456376 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831027137164505, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9012, + "displayed_count": 8820, + "dropped_count": 191, + "decode_error_count": 0, + "last_receive_time_ns": 1792831027038517581, + "last_frame_time_ns": 1792831027034350293, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831027151343466, + "capture_count": 764, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027142333666, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027152456376 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831027436222991, + "ended_time_ns": 1792831027456794226 + }, + "pi_start_request_time_ns": 1792831027456802483, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831027460139690, + "capture_start_time_ns": 1792831030931339718, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831040987417022, + "capture_stop_time_ns": 1792831041874542571, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163707_00018", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163707_00018", + "--control-generation", + "22", + "--ready-token", + "402826f89ae64784b181a309f0be10d3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831027458088080, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "capture_start_time_ns": 1792831030931339718, + "capture_stop_time_ns": 1792831041874542571, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "timing": { + "server_start_request_time_ns": 1792831027453197809, + "subprocess_popen_time_ns": 1792831027458088080, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831027523993555, + "validate_start_time_ns": 1792831028480111837, + "session_dir_create_start_time_ns": 1792831027525947615, + "session_dir_create_end_time_ns": 1792831027529395716, + "as5600_init_start_time_ns": 1792831027530444959, + "as5600_init_end_time_ns": 1792831027531275165, + "as5600_zero_start_time_ns": 1792831027532886947, + "as5600_zero_end_time_ns": 1792831028338553197, + "camera_init_start_time_ns": 1792831028340001904, + "camera_init_end_time_ns": 1792831028341839853, + "camera_start_start_time_ns": 1792831028344522601, + "camera_start_end_time_ns": 1792831028345856807, + "camera_first_frame_wait_start_time_ns": 1792831028347346237, + "camera_first_frame_wait_end_time_ns": 1792831028350199059, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831028351567136, + "armed_time_ns": 1792831028479148797, + "waiting_t0_time_ns": 1792831028481879897, + "recording_start_time_ns": 1792831030932658064, + "stop_request_time_ns": 1792831041004784106, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027441017983, + "ended_time_ns": 1792831027441233706, + "duration_s": 0.000215723, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027441022446, + "ok": true, + "ended_time_ns": 1792831027441030761, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027441032539, + "ok": true, + "ended_time_ns": 1792831027441035094, + "duration_s": 2.555e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027441035502, + "ok": true, + "ended_time_ns": 1792831027441038465, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027441038779, + "ok": true, + "ended_time_ns": 1792831027441222743, + "duration_s": 0.000183964 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027441223909, + "ok": true, + "ended_time_ns": 1792831027441227372, + "duration_s": 3.463e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027441227854, + "ok": true, + "ended_time_ns": 1792831027441230706, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027441231076, + "ok": true, + "ended_time_ns": 1792831027441233317, + "duration_s": 2.241e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 22, + "ready_token": "402826f89ae64784b181a309f0be10d3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "arm_request_id": "4d8dabd8786841db831b8b5c3007c3f7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2279, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163707_00018", + "generation": 22, + "session_count": 22, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022594256893, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831027500941740, + "capture_count": 778, + "capture_error_count": 0, + "writer_count": 407, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.7736816418867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 343, + "max_queue_depth": 343, + "read_count": 343, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027492333533, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027508263961 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831040987914615, + "ended_time_ns": 1792831041003546315, + "capture_stop_time_ns": 1792831041874542571, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163707_00018", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 236058 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 238298 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141738 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 238370 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 238383 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129769 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163707_00018", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163707_00018", + "--control-generation", + "22", + "--ready-token", + "402826f89ae64784b181a309f0be10d3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831042899833448, + "ended_time_ns": 1792831042914484857, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "capture_start_time_ns": 1792831030931339718, + "capture_stop_time_ns": 1792831041874542571, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/left_hand", + "timing": { + "server_start_request_time_ns": 1792831027453197809, + "subprocess_popen_time_ns": 1792831027458088080, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831027523993555, + "validate_start_time_ns": 1792831028480111837, + "session_dir_create_start_time_ns": 1792831027525947615, + "session_dir_create_end_time_ns": 1792831027529395716, + "as5600_init_start_time_ns": 1792831027530444959, + "as5600_init_end_time_ns": 1792831027531275165, + "as5600_zero_start_time_ns": 1792831027532886947, + "as5600_zero_end_time_ns": 1792831028338553197, + "camera_init_start_time_ns": 1792831028340001904, + "camera_init_end_time_ns": 1792831028341839853, + "camera_start_start_time_ns": 1792831028344522601, + "camera_start_end_time_ns": 1792831028345856807, + "camera_first_frame_wait_start_time_ns": 1792831028347346237, + "camera_first_frame_wait_end_time_ns": 1792831028350199059, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831028351567136, + "armed_time_ns": 1792831028479148797, + "waiting_t0_time_ns": 1792831028481879897, + "recording_start_time_ns": 1792831030932658064, + "stop_request_time_ns": 1792831041006591092, + "finalized_time_ns": 1792831041880274137 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027441017983, + "ended_time_ns": 1792831027441233706, + "duration_s": 0.000215723, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027441022446, + "ok": true, + "ended_time_ns": 1792831027441030761, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027441032539, + "ok": true, + "ended_time_ns": 1792831027441035094, + "duration_s": 2.555e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027441035502, + "ok": true, + "ended_time_ns": 1792831027441038465, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027441038779, + "ok": true, + "ended_time_ns": 1792831027441222743, + "duration_s": 0.000183964 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027441223909, + "ok": true, + "ended_time_ns": 1792831027441227372, + "duration_s": 3.463e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027441227854, + "ok": true, + "ended_time_ns": 1792831027441230706, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027441231076, + "ok": true, + "ended_time_ns": 1792831027441233317, + "duration_s": 2.241e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 22, + "ready_token": "402826f89ae64784b181a309f0be10d3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "arm_request_id": "4d8dabd8786841db831b8b5c3007c3f7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2279, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163707_00018", + "generation": 22, + "session_count": 22, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 22, + "last_bootstrap_time_ns": 1792831042696479598, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831042690895159, + "capture_count": 575, + "capture_error_count": 0, + "writer_count": 438, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.25659179355874, + 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true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792831030931339718, + "capture_stop_time_ns": 1792831041874542571, + "effective_capture_stop_time_ns": 1792831041874542571, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + 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"仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 277.822265625, + "reference_source": "max_open_init", + "zero_angle_deg": 277.822265625, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.629e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831030936193186, + "camera_frame_count": 438, + "camera_started_time_ns": 1792831028318010640, + "camera_stopped_time_ns": 1792831041877973535, + "camera_actual_fps": 32.300973342744534, + "camera_first_frame_time_ns": 1792831030936676605, + "camera_last_frame_time_ns": 1792831041854598894, + "camera_frame_timestamp_fps": 40.025930615048, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + 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"read_count": 1206, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2425 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..77098cc949f0e9632bd42636ea44822b89a9402d --- /dev/null +++ b/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831027379895712, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163707_00018", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163707_00018/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163647_00017", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163647_00017", + "--control-generation", + "21", + "--ready-token", + "3b834812792843fcadbc7408862dffc5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831027380404318, + "ended_time_ns": 1792831027397334182, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.diagnostics.json", + "capture_start_time_ns": 1792831011601244450, + "capture_stop_time_ns": 1792831021776689063, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163647_00017/right_hand", + "timing": { + "server_start_request_time_ns": 1792831008106491592, + "subprocess_popen_time_ns": 1792831008111615507, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831008118153404, + "validate_start_time_ns": 1792831009129587302, + "session_dir_create_start_time_ns": 1792831008118885487, + "session_dir_create_end_time_ns": 1792831008119918492, + "as5600_init_start_time_ns": 1792831008121255493, + "as5600_init_end_time_ns": 1792831008180833867, + "as5600_zero_start_time_ns": 1792831008182745268, + "as5600_zero_end_time_ns": 1792831008990944011, + "camera_init_start_time_ns": 1792831008992413825, + "camera_init_end_time_ns": 1792831008994296634, + "camera_start_start_time_ns": 1792831008995166641, + "camera_start_end_time_ns": 1792831008996491661, + "camera_first_frame_wait_start_time_ns": 1792831008997932864, + "camera_first_frame_wait_end_time_ns": 1792831008999582491, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831009001106916, + "armed_time_ns": 1792831009128628241, + "waiting_t0_time_ns": 1792831009131099634, + "recording_start_time_ns": 1792831011606847253, + "stop_request_time_ns": 1792831020940712174, + "finalized_time_ns": 1792831021784220624 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831027148926585, + "ended_time_ns": 1792831027150028090, + "duration_s": 0.001101505, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027149008751, + "ended_time_ns": 1792831027149229563, + "duration_s": 0.000220812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027149012047, + "ok": true, + "ended_time_ns": 1792831027149020121, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027149021029, + "ok": true, + "ended_time_ns": 1792831027149023566, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027149024010, + "ok": true, + "ended_time_ns": 1792831027149026880, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027149027214, + "ok": true, + "ended_time_ns": 1792831027149217230, + "duration_s": 0.000190016 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027149218193, + "ok": true, + "ended_time_ns": 1792831027149222396, + "duration_s": 4.203e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027149222915, + "ok": true, + "ended_time_ns": 1792831027149226082, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027149226545, + "ok": true, + "ended_time_ns": 1792831027149229082, + "duration_s": 2.537e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831027149863703, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831026764356507, + "frame_age_s": 0.385537973, + "heartbeat_age_s": 0.37599969, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831027149898980, + "duration_s": 3.5277e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831027149901110, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.8186035168867, + "sample_observed_time_ns": 1792831026757219248, + "sample_age_s": 0.392689843, + "heartbeat_age_s": 0.376027523, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831027149912943, + "duration_s": 1.1833e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831027149914017, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831027149916610, + "duration_s": 2.593e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831027149917665, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831027150026701, + "duration_s": 0.000109036 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 21, + "ready_token": "3b834812792843fcadbc7408862dffc5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163647_00017.ready.json", + "arm_request_id": "9173f6fd8f1b48e79e43f3dac6b41176", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3106, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831027263619355, + "capture_count": 731, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 330, + "max_queue_depth": 330, + "read_count": 330, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027273902555, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027283381024 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831027134501532, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9324, + "displayed_count": 7535, + "dropped_count": 1787, + "decode_error_count": 0, + "last_receive_time_ns": 1792831027036083625, + "last_frame_time_ns": 1792831026997504238, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831027263619355, + "capture_count": 731, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 330, + "max_queue_depth": 330, + "read_count": 330, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027273902555, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027283381024 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027400466374, + "ended_time_ns": 1792831027410283734, + "duration_s": 0.000209942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027402369145, + "ok": true, + "ended_time_ns": 1792831027402377256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027402379052, + "ok": true, + "ended_time_ns": 1792831027402381645, + "duration_s": 2.593e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027402382108, + "ok": true, + "ended_time_ns": 1792831027402384867, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027402385237, + "ok": true, + "ended_time_ns": 1792831027402563013, + "duration_s": 0.000177776 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027402564272, + "ok": true, + "ended_time_ns": 1792831027402568198, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027402568680, + "ok": true, + "ended_time_ns": 1792831027402571994, + "duration_s": 3.314e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027402572328, + "ok": true, + "ended_time_ns": 1792831027402574679, + "duration_s": 2.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163707_00018", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163707_00018", + "--control-generation", + "22", + "--ready-token", + "69c1ea0bde8e4a3eb5ff74b1d829f4c3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831027477250802, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "timing": { + "server_start_request_time_ns": 1792831027415784989, + "subprocess_popen_time_ns": 1792831027477250802, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027402365293, + "ended_time_ns": 1792831027402575235, + "duration_s": 0.000209942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027402369145, + "ok": true, + "ended_time_ns": 1792831027402377256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027402379052, + "ok": true, + "ended_time_ns": 1792831027402381645, + "duration_s": 2.593e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027402382108, + "ok": true, + "ended_time_ns": 1792831027402384867, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027402385237, + "ok": true, + "ended_time_ns": 1792831027402563013, + "duration_s": 0.000177776 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027402564272, + "ok": true, + "ended_time_ns": 1792831027402568198, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027402568680, + "ok": true, + "ended_time_ns": 1792831027402571994, + "duration_s": 3.314e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027402572328, + "ok": true, + "ended_time_ns": 1792831027402574679, + "duration_s": 2.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 22, + "ready_token": "69c1ea0bde8e4a3eb5ff74b1d829f4c3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3107, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831027263619355, + "capture_count": 731, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 330, + "max_queue_depth": 330, + "read_count": 330, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027273902555, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027283381024 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831027134501532, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9324, + "displayed_count": 7535, + "dropped_count": 1787, + "decode_error_count": 0, + "last_receive_time_ns": 1792831027036083625, + "last_frame_time_ns": 1792831026997504238, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163647_00017", + "generation": 21, + "session_count": 21, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831027263619355, + "capture_count": 731, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 330, + "max_queue_depth": 330, + "read_count": 330, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027273902555, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027283381024 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831027413712643, + "ended_time_ns": 1792831027491957641 + }, + "pi_start_request_time_ns": 1792831027491965281, + "capture_start_time_ns": 1792831030931339718, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831040893323987, + "capture_stop_time_ns": 1792831041874542571, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163707_00018", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163707_00018", + "--control-generation", + "22", + "--ready-token", + "69c1ea0bde8e4a3eb5ff74b1d829f4c3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831027477250802, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "capture_start_time_ns": 1792831030931339718, + "capture_stop_time_ns": 1792831041874542571, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "timing": { + "server_start_request_time_ns": 1792831027415784989, + "subprocess_popen_time_ns": 1792831027477250802, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831027496297981, + "validate_start_time_ns": 1792831028452437968, + "session_dir_create_start_time_ns": 1792831027498185993, + "session_dir_create_end_time_ns": 1792831027499145221, + "as5600_init_start_time_ns": 1792831027500318447, + "as5600_init_end_time_ns": 1792831027501172510, + "as5600_zero_start_time_ns": 1792831027502818155, + "as5600_zero_end_time_ns": 1792831028312884818, + "camera_init_start_time_ns": 1792831028314735034, + "camera_init_end_time_ns": 1792831028318015399, + "camera_start_start_time_ns": 1792831028333299812, + "camera_start_end_time_ns": 1792831028335095992, + "camera_first_frame_wait_start_time_ns": 1792831028336948246, + "camera_first_frame_wait_end_time_ns": 1792831028339186606, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831028342856373, + "armed_time_ns": 1792831028449865927, + "waiting_t0_time_ns": 1792831028453875245, + "recording_start_time_ns": 1792831030936238593, + "stop_request_time_ns": 1792831040893407917, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027402365293, + "ended_time_ns": 1792831027402575235, + "duration_s": 0.000209942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027402369145, + "ok": true, + "ended_time_ns": 1792831027402377256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027402379052, + "ok": true, + "ended_time_ns": 1792831027402381645, + "duration_s": 2.593e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027402382108, + "ok": true, + "ended_time_ns": 1792831027402384867, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027402385237, + "ok": true, + "ended_time_ns": 1792831027402563013, + "duration_s": 0.000177776 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027402564272, + "ok": true, + "ended_time_ns": 1792831027402568198, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027402568680, + "ok": true, + "ended_time_ns": 1792831027402571994, + "duration_s": 3.314e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027402572328, + "ok": true, + "ended_time_ns": 1792831027402574679, + "duration_s": 2.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 22, + "ready_token": "69c1ea0bde8e4a3eb5ff74b1d829f4c3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "arm_request_id": "4d8dabd8786841db831b8b5c3007c3f7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3107, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163707_00018", + "generation": 22, + "session_count": 22, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 21, + "last_bootstrap_time_ns": 1792831022593207486, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831027463588776, + "capture_count": 739, + "capture_error_count": 0, + "writer_count": 406, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.8186035168867, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 342, + "max_queue_depth": 342, + "read_count": 342, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831027473889272, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831027489753158 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831040894431465, + "ended_time_ns": 1792831040909341034, + "capture_stop_time_ns": 1792831041874542571, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163707_00018", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163707_00018", + "--control-generation", + "22", + "--ready-token", + "69c1ea0bde8e4a3eb5ff74b1d829f4c3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831042945303814, + "ended_time_ns": 1792831042969135235, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.diagnostics.json", + "capture_start_time_ns": 1792831030931339718, + "capture_stop_time_ns": 1792831041874542571, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163707_00018/right_hand", + "timing": { + "server_start_request_time_ns": 1792831027415784989, + "subprocess_popen_time_ns": 1792831027477250802, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831027496297981, + "validate_start_time_ns": 1792831028452437968, + "session_dir_create_start_time_ns": 1792831027498185993, + "session_dir_create_end_time_ns": 1792831027499145221, + "as5600_init_start_time_ns": 1792831027500318447, + "as5600_init_end_time_ns": 1792831027501172510, + "as5600_zero_start_time_ns": 1792831027502818155, + "as5600_zero_end_time_ns": 1792831028312884818, + "camera_init_start_time_ns": 1792831028314735034, + "camera_init_end_time_ns": 1792831028318015399, + "camera_start_start_time_ns": 1792831028333299812, + "camera_start_end_time_ns": 1792831028335095992, + "camera_first_frame_wait_start_time_ns": 1792831028336948246, + "camera_first_frame_wait_end_time_ns": 1792831028339186606, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831028342856373, + "armed_time_ns": 1792831028449865927, + "waiting_t0_time_ns": 1792831028453875245, + "recording_start_time_ns": 1792831030936238593, + "stop_request_time_ns": 1792831040896294324, + "finalized_time_ns": 1792831041880099267 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831027402365293, + "ended_time_ns": 1792831027402575235, + "duration_s": 0.000209942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831027402369145, + "ok": true, + "ended_time_ns": 1792831027402377256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831027402379052, + "ok": true, + "ended_time_ns": 1792831027402381645, + "duration_s": 2.593e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831027402382108, + "ok": true, + "ended_time_ns": 1792831027402384867, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831027402385237, + "ok": true, + "ended_time_ns": 1792831027402563013, + "duration_s": 0.000177776 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831027402564272, + "ok": true, + "ended_time_ns": 1792831027402568198, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831027402568680, + "ok": true, + "ended_time_ns": 1792831027402571994, + "duration_s": 3.314e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831027402572328, + "ok": true, + "ended_time_ns": 1792831027402574679, + "duration_s": 2.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 22, + "ready_token": "69c1ea0bde8e4a3eb5ff74b1d829f4c3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163707_00018.ready.json", + "arm_request_id": "4d8dabd8786841db831b8b5c3007c3f7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3107, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163707_00018", + "generation": 22, + "session_count": 22, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 22, + "last_bootstrap_time_ns": 1792831042694643723, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831042680216818, + "capture_count": 575, + "capture_error_count": 0, + "writer_count": 438, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": 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"camera_first_frame_wait_end_time_ns": 1792831046415215433, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831046417213679, + "armed_time_ns": 1792831046564506092, + "waiting_t0_time_ns": 1792831046567779951, + "recording_start_time_ns": 1792831049023901761, + "stop_request_time_ns": 1792831057401737101, + "finalized_time_ns": 1792831058198987609 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831045525273275, + "ended_time_ns": 1792831045525480645, + "duration_s": 0.00020737, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831045525277349, + "ok": true, + "ended_time_ns": 1792831045525285404, + "duration_s": 8.055e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831045525287201, + "ok": true, + "ended_time_ns": 1792831045525290145, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831045525290589, + "ok": true, + "ended_time_ns": 1792831045525293571, + "duration_s": 2.982e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831045525293941, + "ok": true, + "ended_time_ns": 1792831045525470571, + "duration_s": 0.00017663 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831045525471571, + "ok": true, + "ended_time_ns": 1792831045525474905, + "duration_s": 3.334e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831045525475386, + "ok": true, + "ended_time_ns": 1792831045525477942, + "duration_s": 2.556e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831045525478275, + "ok": true, + "ended_time_ns": 1792831045525480164, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 23, + "ready_token": "a2a5dac4659c462baa935de7b4609340", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.ready.json", + "arm_request_id": "742ec919d3334614824bfe8b80ec986a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2280, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831060529600299, + "capture_count": 566, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831060530337097, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831060537921504 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831060143856086, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9298, + "displayed_count": 9088, + "dropped_count": 209, + "decode_error_count": 0, + "last_receive_time_ns": 1792831060063291798, + "last_frame_time_ns": 1792831060058427693, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831060529600299, + "capture_count": 566, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831060530337097, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831060537921504 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831060777979536, + "ended_time_ns": 1792831060786745847, + "duration_s": 0.001726245, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831060793694458, + "ended_time_ns": 1792831060793975607, + "duration_s": 0.000281149, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831060793698143, + "ok": true, + "ended_time_ns": 1792831060793706458, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831060793707421, + "ok": true, + "ended_time_ns": 1792831060793710199, + "duration_s": 2.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831060793710606, + "ok": true, + "ended_time_ns": 1792831060793713736, + "duration_s": 3.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831060793714069, + "ok": true, + "ended_time_ns": 1792831060793950774, + "duration_s": 0.000236705 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831060793953292, + "ok": true, + "ended_time_ns": 1792831060793964014, + "duration_s": 1.0722e-05 + }, 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1792831060530337097, + "sample_age_s": 0.264712513, + "heartbeat_age_s": 0.257121494, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060795053739, + "duration_s": 1.3667e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831060795058535, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831060795325166, + "duration_s": 0.000266631 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831060786766394, + "ended_time_ns": 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true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 23, + "ready_token": "fe266f68b21f48a681baec1043a1c010", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.ready.json", + "arm_request_id": "742ec919d3334614824bfe8b80ec986a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3108, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831060542438142, + "capture_count": 564, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831060544900258, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831060559654622 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831060086723339, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9610, + "displayed_count": 7725, + "dropped_count": 1884, + "decode_error_count": 0, + "last_receive_time_ns": 1792831060007807050, + "last_frame_time_ns": 1792831060086534416, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831060542438142, + "capture_count": 564, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831060544900258, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831060559654622 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831060920647507, + "ended_time_ns": 1792831060929294198, + "duration_s": 0.001081467, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831060919535873, + "ended_time_ns": 1792831060919749185, + "duration_s": 0.000213312, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831060919539299, + "ok": true, + "ended_time_ns": 1792831060919546947, + "duration_s": 7.648e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831060919547910, + "ok": true, + "ended_time_ns": 1792831060919550725, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831060919551132, + "ok": true, + "ended_time_ns": 1792831060919554095, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831060919554428, + "ok": true, + "ended_time_ns": 1792831060919737537, + "duration_s": 0.000183109 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831060919738463, + "ok": true, + "ended_time_ns": 1792831060919742333, + "duration_s": 3.87e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831060919742833, + "ok": true, + "ended_time_ns": 1792831060919746333, + "duration_s": 3.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831060919746648, + "ok": true, + "ended_time_ns": 1792831060919748704, + "duration_s": 2.056e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831060920372566, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831060542438142, + "frame_age_s": 0.377964961, + "heartbeat_age_s": 0.36073037, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060920407325, + "duration_s": 3.4759e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831060920409047, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.4945068328176, + "sample_observed_time_ns": 1792831060544900258, + "sample_age_s": 0.375515789, + "heartbeat_age_s": 0.360757036, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060920419306, + "duration_s": 1.0259e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831060920424213, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831060920533638, + "duration_s": 0.000109425 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831060929316067, + "ended_time_ns": 1792831061031560161, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831365486675808, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831357010497088, + "ended_time_ns": 1792831357024454121, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831357024536867, + "ended_time_ns": 1792831357066214813, + "transferred_bytes": 13714, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,714 bytes\nTotal transferred file size: 13,714 bytes\nLiteral data: 13,714 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,849\n\nsent 46 bytes received 13,849 bytes 27,790.00 bytes/sec\ntotal size is 13,714 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831357066427590, + "ended_time_ns": 1792831365485050556, + "transferred_bytes": 13665935, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,665,935 bytes\nTotal transferred file size: 13,665,935 bytes\nLiteral data: 13,665,935 bytes\nMatched data: 0 bytes\nFile list size: 226\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,669,679\n\nsent 168 bytes received 13,669,679 bytes 1,608,217.29 bytes/sec\ntotal size is 13,665,935 speedup is 1.00" + } + ], + "transferred_bytes": 13679649, + "copied_local_bytes": 14291848, + "started_time_ns": 1792831357010132230, + "ended_time_ns": 1792831365485640002 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831357011594126, + "ended_time_ns": 1792831357025167064, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831357025254746, + "ended_time_ns": 1792831357068394282, + "transferred_bytes": 13736, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,736 bytes\nTotal transferred file size: 13,736 bytes\nLiteral data: 13,736 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,871\n\nsent 46 bytes received 13,871 bytes 27,834.00 bytes/sec\ntotal size is 13,736 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831357068636618, + "ended_time_ns": 1792831357969008666, + "transferred_bytes": 16331225, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 16,331,225 bytes\nTotal transferred file size: 16,331,225 bytes\nLiteral data: 16,331,225 bytes\nMatched data: 0 bytes\nFile list size: 217\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 16,335,612\n\nsent 168 bytes received 16,335,612 bytes 32,671,560.00 bytes/sec\ntotal size is 16,331,225 speedup is 1.00" + } + ], + "transferred_bytes": 16344961, + "copied_local_bytes": 16942963, + "started_time_ns": 1792831357010596511, + "ended_time_ns": 1792831357969278503 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163741_00020", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832833196390742, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832832752751576, + "ended_time_ns": 1792832833196108945, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832752751576, + "ended_time_ns": 1792832832969307974, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163741_00020", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163741_00020 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163741_00020\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831064621314708\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831064621314708，vive_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831074435401460，vive_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009101s，first=1792831064630415265，T0=1792831064621314708，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004560s，last=1792831074430841915，Tstop=1792831074435401460，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1961\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 199.99129323619803 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 199.99129323619803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1961，metadata 1961\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 199.99129177565428 Hz，最低 150.0 Hz，时长 9.800426721572876 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 199.99129177565428 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006005525588989258s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993399988..1.000000000658091，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.004942861290868374m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.4008208866357281deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=393 duration=9.825s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=393，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 393，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=392，rows=393，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=393，monotonic违规=0，估算频率=40.0261310596623Hz，最大间隔=0.033882564s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 393，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.026131815751285 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.026131815751285 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033882119s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 589，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 18.4261..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 589，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00005332657804 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00005332657804 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020022197s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=589，bad_rows=0，monotonic违规=0，估算频率=60.00005661433914Hz，最大间隔=0.02002203s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 393，metadata 393\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 589，metadata 589\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 393，timestamps 393，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=393，timestamps=393，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.825s，timestamps=9.793601884999994s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=9.793601884999994s，clamp=9.799991289999994s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831064621314708，pi_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831074435401460，pi_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006150s，first=1792831064627465202，T0=1792831064621314708，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.009031s，first=1792831064630345394，T0=1792831064621314708，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.014334s，last=1792831074421067087，Tstop=1792831074435401460，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005065s，last=1792831074430336684，Tstop=1792831074435401460，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006825s，vive=9.80042665s，camera=9.793601884999994s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000435s，vive=9.80042665s，clamp=9.799991289999994s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.002950s，vive_first=1792831064630415265，camera_first=1792831064627465202，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000070s，vive_first=1792831064630415265，clamp_first=1792831064630345394，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.009775s，vive_last=1792831074430841915，camera_last=1792831074421067087，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000505s，vive_last=1792831074430841915，clamp_last=1792831074430336684，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832969570147, + "ended_time_ns": 1792832833196108945, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163741_00020", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163741_00020 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163741_00020\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831064621314708\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831064621314708，vive_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831074435401460，vive_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009101s，first=1792831064630415265，T0=1792831064621314708，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004560s，last=1792831074430841915，Tstop=1792831074435401460，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1961\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 199.99129323619803 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 199.99129323619803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1961，metadata 1961\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 199.99129177565428 Hz，最低 150.0 Hz，时长 9.800426721572876 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 199.99129177565428 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006005525588989258s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994464657..1.0000000005627026，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006455456980155392m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=1.8848648336499092deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=393 duration=9.825s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=393，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 393，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=392，rows=393，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=393，monotonic违规=0，估算频率=40.025832075718455Hz，最大间隔=0.03076436s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 393，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02583086190734 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02583086190734 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.030763712s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 589，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 30.6585..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 589，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99999481428612 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99999481428612 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020475235s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=589，bad_rows=0，monotonic违规=0，估算频率=59.999995946939045Hz，最大间隔=0.020475716s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 393，metadata 393\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 589，metadata 589\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 393，timestamps 393，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=393，timestamps=393，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.825s，timestamps=9.793675523000003s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=9.793675523000003s，clamp=9.800000847000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831064621314708，pi_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831074435401460，pi_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.018694s，first=1792831064640008711，T0=1792831064621314708，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.006911s，first=1792831064628225624，T0=1792831064621314708，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001717s，last=1792831074433684234，Tstop=1792831074435401460，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007175s，last=1792831074428226471，Tstop=1792831074435401460，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006751s，vive=9.80042665s，camera=9.793675523000003s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000426s，vive=9.80042665s，clamp=9.800000847000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.009593s，vive_first=1792831064630415265，camera_first=1792831064640008711，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002190s，vive_first=1792831064630415265，clamp_first=1792831064628225624，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.002842s，vive_last=1792831074430841915，camera_last=1792831074433684234，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002615s，vive_last=1792831074430841915，clamp_last=1792831074428226471，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163741_00020\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831064621314708\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831064621314708，vive_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831074435401460，vive_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009101s，first=1792831064630415265，T0=1792831064621314708，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004560s，last=1792831074430841915，Tstop=1792831074435401460，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1961\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 199.99129323619803 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 199.99129323619803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1961，metadata 1961\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 199.99129177565428 Hz，最低 150.0 Hz，时长 9.800426721572876 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 199.99129177565428 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006005525588989258s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993399988..1.000000000658091，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.004942861290868374m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.4008208866357281deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=393 duration=9.825s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=393，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 393，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=392，rows=393，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=393，monotonic违规=0，估算频率=40.0261310596623Hz，最大间隔=0.033882564s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 393，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.026131815751285 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.026131815751285 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033882119s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 589，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 18.4261..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 589，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00005332657804 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00005332657804 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020022197s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=589，bad_rows=0，monotonic违规=0，估算频率=60.00005661433914Hz，最大间隔=0.02002203s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 393，metadata 393\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 589，metadata 589\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 393，timestamps 393，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=393，timestamps=393，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.825s，timestamps=9.793601884999994s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=9.793601884999994s，clamp=9.799991289999994s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831064621314708，pi_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831074435401460，pi_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006150s，first=1792831064627465202，T0=1792831064621314708，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.009031s，first=1792831064630345394，T0=1792831064621314708，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.014334s，last=1792831074421067087，Tstop=1792831074435401460，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005065s，last=1792831074430336684，Tstop=1792831074435401460，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006825s，vive=9.80042665s，camera=9.793601884999994s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000435s，vive=9.80042665s，clamp=9.799991289999994s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.002950s，vive_first=1792831064630415265，camera_first=1792831064627465202，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000070s，vive_first=1792831064630415265，clamp_first=1792831064630345394，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.009775s，vive_last=1792831074430841915，camera_last=1792831074421067087，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000505s，vive_last=1792831074430841915，clamp_last=1792831074430336684，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163741_00020\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831064621314708\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831064621314708，vive_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831074435401460，vive_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009101s，first=1792831064630415265，T0=1792831064621314708，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004560s，last=1792831074430841915，Tstop=1792831074435401460，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1961\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 199.99129323619803 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 199.99129323619803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1961，metadata 1961\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 199.99129177565428 Hz，最低 150.0 Hz，时长 9.800426721572876 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 199.99129177565428 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006005525588989258s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994464657..1.0000000005627026，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006455456980155392m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=1.8848648336499092deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=393 duration=9.825s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=393，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 393，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=392，rows=393，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=393，monotonic违规=0，估算频率=40.025832075718455Hz，最大间隔=0.03076436s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 393，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02583086190734 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02583086190734 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.030763712s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 589，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 30.6585..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 589，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99999481428612 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99999481428612 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020475235s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=589，bad_rows=0，monotonic违规=0，估算频率=59.999995946939045Hz，最大间隔=0.020475716s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 393，metadata 393\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 589，metadata 589\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 393，timestamps 393，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=393，timestamps=393，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.825s，timestamps=9.793675523000003s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=9.793675523000003s，clamp=9.800000847000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831064621314708，pi_T0=1792831064621314708，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831074435401460，pi_Tstop=1792831074435401460，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.018694s，first=1792831064640008711，T0=1792831064621314708，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.006911s，first=1792831064628225624，T0=1792831064621314708，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001717s，last=1792831074433684234，Tstop=1792831074435401460，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007175s，last=1792831074428226471，Tstop=1792831074435401460，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006751s，vive=9.80042665s，camera=9.793675523000003s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000426s，vive=9.80042665s，clamp=9.800000847000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.009593s，vive_first=1792831064630415265，camera_first=1792831064640008711，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002190s，vive_first=1792831064630415265，clamp_first=1792831064628225624，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.002842s，vive_last=1792831074430841915，camera_last=1792831074433684234，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002615s，vive_last=1792831074430841915，clamp_last=1792831074428226471，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163741_00020_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812832006484 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163741_00020/control/stop_left_hand.flag b/opening and closing/session_20261024_163741_00020/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..06441cafc228a4afccd645d0688d6e72b05ed855 --- /dev/null +++ b/opening and closing/session_20261024_163741_00020/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831074435401460 \ No newline at end of file diff --git a/opening and closing/session_20261024_163741_00020/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163741_00020/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..50e7a43b236f12860bfcd076c83c4242d2e4a794 --- /dev/null +++ b/opening 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1792831064630345394, + "clamp_last_sample_time_ns": 1792831074430336684, + "clamp_actual_hz": 60.00005332657801, + "clamp_value_min": 18.426075811840747, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 205, + "read_count": 974, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2211 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c1bd5f8849928680538912eb7699c95ea9ef043f --- /dev/null +++ b/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831061141043964, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163741_00020", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163725_00019", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163725_00019", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163725_00019", + "--control-generation", + "23", + "--ready-token", + "a2a5dac4659c462baa935de7b4609340", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831061141633626, + "ended_time_ns": 1792831061153432385, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.diagnostics.json", + "capture_start_time_ns": 1792831049020804303, + "capture_stop_time_ns": 1792831058192226032, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163725_00019", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163725_00019/left_hand", + "timing": { + "server_start_request_time_ns": 1792831045538671159, + "subprocess_popen_time_ns": 1792831045544274506, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831045592125048, + "validate_start_time_ns": 1792831046566300911, + "session_dir_create_start_time_ns": 1792831045592883050, + "session_dir_create_end_time_ns": 1792831045593777330, + "as5600_init_start_time_ns": 1792831045597240449, + "as5600_init_end_time_ns": 1792831045598292933, + "as5600_zero_start_time_ns": 1792831045599647807, + "as5600_zero_end_time_ns": 1792831046402258643, + "camera_init_start_time_ns": 1792831046403733072, + "camera_init_end_time_ns": 1792831046406202763, + "camera_start_start_time_ns": 1792831046407481840, + "camera_start_end_time_ns": 1792831046409538142, + "camera_first_frame_wait_start_time_ns": 1792831046413301003, + "camera_first_frame_wait_end_time_ns": 1792831046415215433, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831046417213679, + "armed_time_ns": 1792831046564506092, + "waiting_t0_time_ns": 1792831046567779951, + "recording_start_time_ns": 1792831049023901761, + "stop_request_time_ns": 1792831057401737101, + "finalized_time_ns": 1792831058198987609 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831060793602180, + "ended_time_ns": 1792831060795328425, + "duration_s": 0.001726245, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831060793694458, + "ended_time_ns": 1792831060793975607, + "duration_s": 0.000281149, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831060793698143, + "ok": true, + "ended_time_ns": 1792831060793706458, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831060793707421, + "ok": true, + "ended_time_ns": 1792831060793710199, + "duration_s": 2.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831060793710606, + "ok": true, + "ended_time_ns": 1792831060793713736, + "duration_s": 3.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831060793714069, + "ok": true, + "ended_time_ns": 1792831060793950774, + "duration_s": 0.000236705 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831060793953292, + "ok": true, + "ended_time_ns": 1792831060793964014, + "duration_s": 1.0722e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831060793965014, + "ok": true, + "ended_time_ns": 1792831060793970422, + "duration_s": 5.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831060793970996, + "ok": true, + "ended_time_ns": 1792831060793974903, + "duration_s": 3.907e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831060794990387, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831060529600299, + "frame_age_s": 0.265432255, + "heartbeat_age_s": 0.257087476, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060795037424, + "duration_s": 4.7037e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831060795040072, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 100.89843749999999, + "sample_observed_time_ns": 1792831060530337097, + "sample_age_s": 0.264712513, + "heartbeat_age_s": 0.257121494, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060795053739, + "duration_s": 1.3667e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831060795054980, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831060795057313, + "duration_s": 2.333e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831060795058535, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831060795325166, + "duration_s": 0.000266631 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 23, + "ready_token": "a2a5dac4659c462baa935de7b4609340", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.ready.json", + "arm_request_id": "742ec919d3334614824bfe8b80ec986a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2280, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831061032327796, + "capture_count": 586, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061030356477, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061043542972 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831060143856086, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9298, + "displayed_count": 9088, + "dropped_count": 209, + "decode_error_count": 0, + "last_receive_time_ns": 1792831060063291798, + "last_frame_time_ns": 1792831060058427693, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831061032327796, + "capture_count": 586, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061030356477, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061043542972 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061156779250, + "ended_time_ns": 1792831061163065250, + "duration_s": 0.00021776, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061172116987, + "ok": true, + "ended_time_ns": 1792831061172125172, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061172126895, + "ok": true, + "ended_time_ns": 1792831061172129691, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061172130117, + "ok": true, + "ended_time_ns": 1792831061172133265, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061172133598, + "ok": true, + "ended_time_ns": 1792831061172319339, + "duration_s": 0.000185741 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061172320506, + "ok": true, + "ended_time_ns": 1792831061172324025, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061172324543, + "ok": true, + "ended_time_ns": 1792831061172327099, + "duration_s": 2.556e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061172327488, + "ok": true, + "ended_time_ns": 1792831061172329265, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163741_00020", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "ebd63fdbc83f41e5b9025e386f21befa", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831061192906167, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "timing": { + "server_start_request_time_ns": 1792831061187944174, + "subprocess_popen_time_ns": 1792831061192906167, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061172111876, + "ended_time_ns": 1792831061172329636, + "duration_s": 0.00021776, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061172116987, + "ok": true, + "ended_time_ns": 1792831061172125172, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061172126895, + "ok": true, + "ended_time_ns": 1792831061172129691, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061172130117, + "ok": true, + "ended_time_ns": 1792831061172133265, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061172133598, + "ok": true, + "ended_time_ns": 1792831061172319339, + "duration_s": 0.000185741 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061172320506, + "ok": true, + "ended_time_ns": 1792831061172324025, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061172324543, + "ok": true, + "ended_time_ns": 1792831061172327099, + "duration_s": 2.556e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061172327488, + "ok": true, + "ended_time_ns": 1792831061172329265, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "ebd63fdbc83f41e5b9025e386f21befa", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2281, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831061032327796, + "capture_count": 586, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061030356477, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061043542972 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831060143856086, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9298, + "displayed_count": 9088, + "dropped_count": 209, + "decode_error_count": 0, + "last_receive_time_ns": 1792831060063291798, + "last_frame_time_ns": 1792831060058427693, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831061032327796, + "capture_count": 586, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061030356477, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061043542972 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831061167014337, + "ended_time_ns": 1792831061190959923 + }, + "pi_start_request_time_ns": 1792831061190967527, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831061194453722, + "capture_start_time_ns": 1792831064621314708, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831073437709954, + "capture_stop_time_ns": 1792831074435401460, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163741_00020", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "ebd63fdbc83f41e5b9025e386f21befa", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831061192906167, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "timing": { + "server_start_request_time_ns": 1792831061187944174, + "subprocess_popen_time_ns": 1792831061192906167, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831061204804548, + "validate_start_time_ns": 1792831062155428872, + "session_dir_create_start_time_ns": 1792831061206377218, + "session_dir_create_end_time_ns": 1792831061207333147, + "as5600_init_start_time_ns": 1792831061208355075, + "as5600_init_end_time_ns": 1792831061209290003, + "as5600_zero_start_time_ns": 1792831061210746210, + "as5600_zero_end_time_ns": 1792831062016303109, + "camera_init_start_time_ns": 1792831062017755483, + "camera_init_end_time_ns": 1792831062019612802, + "camera_start_start_time_ns": 1792831062020443823, + "camera_start_end_time_ns": 1792831062021775455, + "camera_first_frame_wait_start_time_ns": 1792831062023126866, + "camera_first_frame_wait_end_time_ns": 1792831062024438943, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831062025753076, + "armed_time_ns": 1792831062154131591, + "waiting_t0_time_ns": 1792831062157199802, + "recording_start_time_ns": 1792831064625779901, + "stop_request_time_ns": 1792831073456847748, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061172111876, + "ended_time_ns": 1792831061172329636, + "duration_s": 0.00021776, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061172116987, + "ok": true, + "ended_time_ns": 1792831061172125172, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061172126895, + "ok": true, + "ended_time_ns": 1792831061172129691, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061172130117, + "ok": true, + "ended_time_ns": 1792831061172133265, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061172133598, + "ok": true, + "ended_time_ns": 1792831061172319339, + "duration_s": 0.000185741 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061172320506, + "ok": true, + "ended_time_ns": 1792831061172324025, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061172324543, + "ok": true, + "ended_time_ns": 1792831061172327099, + "duration_s": 2.556e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061172327488, + "ok": true, + "ended_time_ns": 1792831061172329265, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "ebd63fdbc83f41e5b9025e386f21befa", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2281, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059016446462, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831061179724209, + "capture_count": 592, + "capture_error_count": 0, + "writer_count": 367, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 100.89843749999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 180, + "max_queue_depth": 180, + "read_count": 180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061197002047, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061200681186 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831073438819455, + "ended_time_ns": 1792831073454663539, + "capture_stop_time_ns": 1792831074435401460, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163741_00020", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 211513 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 213793 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141747 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 214677 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 213749 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129767 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163741_00020", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "ebd63fdbc83f41e5b9025e386f21befa", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831075462949049, + "ended_time_ns": 1792831075477017807, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "timing": { + "server_start_request_time_ns": 1792831061187944174, + "subprocess_popen_time_ns": 1792831061192906167, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831061204804548, + "validate_start_time_ns": 1792831062155428872, + "session_dir_create_start_time_ns": 1792831061206377218, + "session_dir_create_end_time_ns": 1792831061207333147, + "as5600_init_start_time_ns": 1792831061208355075, + "as5600_init_end_time_ns": 1792831061209290003, + "as5600_zero_start_time_ns": 1792831061210746210, + "as5600_zero_end_time_ns": 1792831062016303109, + "camera_init_start_time_ns": 1792831062017755483, + "camera_init_end_time_ns": 1792831062019612802, + "camera_start_start_time_ns": 1792831062020443823, + "camera_start_end_time_ns": 1792831062021775455, + "camera_first_frame_wait_start_time_ns": 1792831062023126866, + "camera_first_frame_wait_end_time_ns": 1792831062024438943, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831062025753076, + "armed_time_ns": 1792831062154131591, + "waiting_t0_time_ns": 1792831062157199802, + "recording_start_time_ns": 1792831064625779901, + "stop_request_time_ns": 1792831073459459069, + "finalized_time_ns": 1792831074440302856 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061172111876, + "ended_time_ns": 1792831061172329636, + "duration_s": 0.00021776, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061172116987, + "ok": true, + "ended_time_ns": 1792831061172125172, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061172126895, + "ok": true, + "ended_time_ns": 1792831061172129691, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061172130117, + "ok": true, + "ended_time_ns": 1792831061172133265, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061172133598, + "ok": true, + "ended_time_ns": 1792831061172319339, + "duration_s": 0.000185741 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061172320506, + "ok": true, + "ended_time_ns": 1792831061172324025, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061172324543, + "ok": true, + "ended_time_ns": 1792831061172327099, + "duration_s": 2.556e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061172327488, + "ok": true, + "ended_time_ns": 1792831061172329265, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "ebd63fdbc83f41e5b9025e386f21befa", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2281, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + 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0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831075249146892, + "sample_fresh": true + }, + "hardware_ready": true + }, + 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0000000000000000000000000000000000000000..60f7eba0c78af07cdce54541848c90df186f622b --- /dev/null +++ b/opening and closing/session_20261024_163741_00020/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792831074453841435, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/opening and 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"AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 589, + "clamp_first_sample_time_ns": 1792831064628225624, + "clamp_last_sample_time_ns": 1792831074428226471, + "clamp_actual_hz": 59.99999481428616, + "clamp_value_min": 30.65854777283856, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 203, + "read_count": 975, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2197 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5546717d17ec2f01638483a23a1bfd621816875b --- /dev/null +++ b/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831061130436318, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163741_00020", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163725_00019", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163725_00019", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163725_00019", + "--control-generation", + "23", + "--ready-token", + "fe266f68b21f48a681baec1043a1c010", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831061130962319, + "ended_time_ns": 1792831061174029717, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.diagnostics.json", + "capture_start_time_ns": 1792831049020804303, + "capture_stop_time_ns": 1792831058192226032, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163725_00019", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163725_00019/right_hand", + "timing": { + "server_start_request_time_ns": 1792831045526574603, + "subprocess_popen_time_ns": 1792831045533422440, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831045585644836, + "validate_start_time_ns": 1792831046545303537, + "session_dir_create_start_time_ns": 1792831045586376789, + "session_dir_create_end_time_ns": 1792831045587310518, + "as5600_init_start_time_ns": 1792831045588340227, + "as5600_init_end_time_ns": 1792831045589249326, + "as5600_zero_start_time_ns": 1792831045590629753, + "as5600_zero_end_time_ns": 1792831046395410188, + "camera_init_start_time_ns": 1792831046424454403, + "camera_init_end_time_ns": 1792831046428157688, + "camera_start_start_time_ns": 1792831046430463843, + "camera_start_end_time_ns": 1792831046432277098, + "camera_first_frame_wait_start_time_ns": 1792831046433676765, + "camera_first_frame_wait_end_time_ns": 1792831046435028710, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831046436400785, + "armed_time_ns": 1792831046542483407, + "waiting_t0_time_ns": 1792831046547193290, + "recording_start_time_ns": 1792831049021418835, + "stop_request_time_ns": 1792831057346189272, + "finalized_time_ns": 1792831058198638217 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831060919453930, + "ended_time_ns": 1792831060920535397, + "duration_s": 0.001081467, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831060919535873, + "ended_time_ns": 1792831060919749185, + "duration_s": 0.000213312, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831060919539299, + "ok": true, + "ended_time_ns": 1792831060919546947, + "duration_s": 7.648e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831060919547910, + "ok": true, + "ended_time_ns": 1792831060919550725, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831060919551132, + "ok": true, + "ended_time_ns": 1792831060919554095, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831060919554428, + "ok": true, + "ended_time_ns": 1792831060919737537, + "duration_s": 0.000183109 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831060919738463, + "ok": true, + "ended_time_ns": 1792831060919742333, + "duration_s": 3.87e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831060919742833, + "ok": true, + "ended_time_ns": 1792831060919746333, + "duration_s": 3.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831060919746648, + "ok": true, + "ended_time_ns": 1792831060919748704, + "duration_s": 2.056e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831060920372566, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831060542438142, + "frame_age_s": 0.377964961, + "heartbeat_age_s": 0.36073037, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060920407325, + "duration_s": 3.4759e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831060920409047, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.4945068328176, + "sample_observed_time_ns": 1792831060544900258, + "sample_age_s": 0.375515789, + "heartbeat_age_s": 0.360757036, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831060920419306, + "duration_s": 1.0259e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831060920420232, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831060920423065, + "duration_s": 2.833e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831060920424213, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831060920533638, + "duration_s": 0.000109425 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 23, + "ready_token": "fe266f68b21f48a681baec1043a1c010", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163725_00019.ready.json", + "arm_request_id": "742ec919d3334614824bfe8b80ec986a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3108, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831061042310056, + "capture_count": 584, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061061573991, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061069498036 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831060086723339, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9610, + "displayed_count": 7725, + "dropped_count": 1884, + "decode_error_count": 0, + "last_receive_time_ns": 1792831060007807050, + "last_frame_time_ns": 1792831060086534416, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831061042310056, + "capture_count": 584, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061061573991, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061069498036 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061177291419, + "ended_time_ns": 1792831061183849226, + "duration_s": 0.000208108, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061175709694, + "ok": true, + "ended_time_ns": 1792831061175717638, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061175719008, + "ok": true, + "ended_time_ns": 1792831061175721564, + "duration_s": 2.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061175722008, + "ok": true, + "ended_time_ns": 1792831061175724693, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061175725027, + "ok": true, + "ended_time_ns": 1792831061175901469, + "duration_s": 0.000176442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061175902636, + "ok": true, + "ended_time_ns": 1792831061175906747, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061175907228, + "ok": true, + "ended_time_ns": 1792831061175910395, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061175910839, + "ok": true, + "ended_time_ns": 1792831061175913432, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163741_00020", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "7cf02df0749946ccb7c96560d4002455", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831061196771346, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "timing": { + "server_start_request_time_ns": 1792831061190352503, + "subprocess_popen_time_ns": 1792831061196771346, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061175705731, + "ended_time_ns": 1792831061175913839, + "duration_s": 0.000208108, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061175709694, + "ok": true, + "ended_time_ns": 1792831061175717638, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061175719008, + "ok": true, + "ended_time_ns": 1792831061175721564, + "duration_s": 2.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061175722008, + "ok": true, + "ended_time_ns": 1792831061175724693, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061175725027, + "ok": true, + "ended_time_ns": 1792831061175901469, + "duration_s": 0.000176442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061175902636, + "ok": true, + "ended_time_ns": 1792831061175906747, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061175907228, + "ok": true, + "ended_time_ns": 1792831061175910395, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061175910839, + "ok": true, + "ended_time_ns": 1792831061175913432, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "7cf02df0749946ccb7c96560d4002455", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3109, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831061042310056, + "capture_count": 584, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061061573991, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061069498036 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831060086723339, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9610, + "displayed_count": 7725, + "dropped_count": 1884, + "decode_error_count": 0, + "last_receive_time_ns": 1792831060007807050, + "last_frame_time_ns": 1792831060086534416, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163725_00019", + "generation": 23, + "session_count": 23, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831061042310056, + "capture_count": 584, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061061573991, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061069498036 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831061187438812, + "ended_time_ns": 1792831061217349682 + }, + "pi_start_request_time_ns": 1792831061217356894, + "capture_start_time_ns": 1792831064621314708, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831073543545588, + "capture_stop_time_ns": 1792831074435401460, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163741_00020", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "7cf02df0749946ccb7c96560d4002455", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831061196771346, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "timing": { + "server_start_request_time_ns": 1792831061190352503, + "subprocess_popen_time_ns": 1792831061196771346, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831061230259411, + "validate_start_time_ns": 1792831062147130093, + "session_dir_create_start_time_ns": 1792831061231063900, + "session_dir_create_end_time_ns": 1792831061232087017, + "as5600_init_start_time_ns": 1792831061233044282, + "as5600_init_end_time_ns": 1792831061233879494, + "as5600_zero_start_time_ns": 1792831061235600953, + "as5600_zero_end_time_ns": 1792831062042348436, + "camera_init_start_time_ns": 1792831062046879451, + "camera_init_end_time_ns": 1792831062048703002, + "camera_start_start_time_ns": 1792831062049645508, + "camera_start_end_time_ns": 1792831062051276005, + "camera_first_frame_wait_start_time_ns": 1792831062052936521, + "camera_first_frame_wait_end_time_ns": 1792831062054548259, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831062056033295, + "armed_time_ns": 1792831062144216354, + "waiting_t0_time_ns": 1792831062148159562, + "recording_start_time_ns": 1792831064623751256, + "stop_request_time_ns": 1792831073542782084, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061175705731, + "ended_time_ns": 1792831061175913839, + "duration_s": 0.000208108, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061175709694, + "ok": true, + "ended_time_ns": 1792831061175717638, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061175719008, + "ok": true, + "ended_time_ns": 1792831061175721564, + "duration_s": 2.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061175722008, + "ok": true, + "ended_time_ns": 1792831061175724693, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061175725027, + "ok": true, + "ended_time_ns": 1792831061175901469, + "duration_s": 0.000176442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061175902636, + "ok": true, + "ended_time_ns": 1792831061175906747, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061175907228, + "ok": true, + "ended_time_ns": 1792831061175910395, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061175910839, + "ok": true, + "ended_time_ns": 1792831061175913432, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "7cf02df0749946ccb7c96560d4002455", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3109, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 23, + "last_bootstrap_time_ns": 1792831059013509669, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831061218107958, + "capture_count": 591, + "capture_error_count": 0, + "writer_count": 365, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.4945068328176, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 181, + "max_queue_depth": 181, + "read_count": 181, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831061211565302, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831061226229982 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831073543979664, + "ended_time_ns": 1792831073554885917, + "capture_stop_time_ns": 1792831074435401460, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163741_00020", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "7cf02df0749946ccb7c96560d4002455", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831074574396641, + "ended_time_ns": 1792831074585392702, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "timing": { + "server_start_request_time_ns": 1792831061190352503, + "subprocess_popen_time_ns": 1792831061196771346, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831061230259411, + "validate_start_time_ns": 1792831062147130093, + "session_dir_create_start_time_ns": 1792831061231063900, + "session_dir_create_end_time_ns": 1792831061232087017, + "as5600_init_start_time_ns": 1792831061233044282, + "as5600_init_end_time_ns": 1792831061233879494, + "as5600_zero_start_time_ns": 1792831061235600953, + "as5600_zero_end_time_ns": 1792831062042348436, + "camera_init_start_time_ns": 1792831062046879451, + "camera_init_end_time_ns": 1792831062048703002, + "camera_start_start_time_ns": 1792831062049645508, + "camera_start_end_time_ns": 1792831062051276005, + "camera_first_frame_wait_start_time_ns": 1792831062052936521, + "camera_first_frame_wait_end_time_ns": 1792831062054548259, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831062056033295, + "armed_time_ns": 1792831062144216354, + "waiting_t0_time_ns": 1792831062148159562, + "recording_start_time_ns": 1792831064623751256, + "stop_request_time_ns": 1792831073547317859, + "finalized_time_ns": 1792831074450987953 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061175705731, + "ended_time_ns": 1792831061175913839, + "duration_s": 0.000208108, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061175709694, + "ok": true, + "ended_time_ns": 1792831061175717638, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061175719008, + "ok": true, + "ended_time_ns": 1792831061175721564, + "duration_s": 2.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061175722008, + "ok": true, + "ended_time_ns": 1792831061175724693, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061175725027, + "ok": true, + "ended_time_ns": 1792831061175901469, + "duration_s": 0.000176442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061175902636, + "ok": true, + "ended_time_ns": 1792831061175906747, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061175907228, + "ok": true, + "ended_time_ns": 1792831061175910395, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061175910839, + "ok": true, + "ended_time_ns": 1792831061175913432, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "7cf02df0749946ccb7c96560d4002455", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3109, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831074459641934, + "capture_count": 497, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 203, + "read_count": 975, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831074444899495, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831074459927671 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831074064183922, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9733, + "displayed_count": 7803, + "dropped_count": 1928, + "decode_error_count": 0, + "last_receive_time_ns": 1792831074020052273, + "last_frame_time_ns": 1792831073952228303, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831074459641934, + "capture_count": 497, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 203, + "read_count": 975, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831074444899495, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831074459927671 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792831074588293959 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa9b3c28fefd25f8db709821bab608a308705c6 --- /dev/null +++ b/opening and closing/session_20261024_163741_00020/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831061197209309, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": 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closing/session_20261024_163741_00020/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "effective_capture_stop_time_ns": 1792831074435401460, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163741_00020/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.1122136116027832, + "y0": -0.7380368709564209, + "z0": -0.9892163276672363, + "qx0": 0.13993626186853755, + 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"/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/raw_vive_pose.txt", "exists": true, "size_bytes": 218904}, "merged_trajectory.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/merged_trajectory.txt.part", "exists": false, "size_bytes": 0}, "raw_vive_pose.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", "exists": false, "size_bytes": 0}}, "right_hand": {"merged_trajectory.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt", "exists": true, "size_bytes": 219524}, "raw_vive_pose.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/raw_vive_pose.txt", "exists": true, "size_bytes": 218872}, "merged_trajectory.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt.part", "exists": false, "size_bytes": 0}, "raw_vive_pose.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", "exists": false, "size_bytes": 0}}}} diff --git a/opening and closing/session_20261024_163757_00021/Metadata/ui_backend_metadata.json b/opening and closing/session_20261024_163757_00021/Metadata/ui_backend_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..84680002c01937ebd267f24eee052ed4ea0d9211 --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/Metadata/ui_backend_metadata.json @@ -0,0 +1,3619 @@ +{ + "project": "Tele-UMI", + "role": "ui_backend_joint_capture", + "session_id": "session_20261024_163757_00021", + "created_time_ns": 1792831077240600492, + "updated_time_ns": 1792832833203635376, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_names": [ + "left_hand", + "right_hand" + ], + "device_targets": { + "left_hand": { + "hand_name": "left_hand", + "pi_host": "192.168.31.140", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "requested_tracker_serial": "LHR-26B06EF4", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163741_00020", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "ebd63fdbc83f41e5b9025e386f21befa", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831076879412343, + "ended_time_ns": 1792831076893232141, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/left_hand", + "timing": { + "server_start_request_time_ns": 1792831061187944174, + "subprocess_popen_time_ns": 1792831061192906167, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831061204804548, + "validate_start_time_ns": 1792831062155428872, + "session_dir_create_start_time_ns": 1792831061206377218, + "session_dir_create_end_time_ns": 1792831061207333147, + "as5600_init_start_time_ns": 1792831061208355075, + "as5600_init_end_time_ns": 1792831061209290003, + "as5600_zero_start_time_ns": 1792831061210746210, + "as5600_zero_end_time_ns": 1792831062016303109, + "camera_init_start_time_ns": 1792831062017755483, + "camera_init_end_time_ns": 1792831062019612802, + "camera_start_start_time_ns": 1792831062020443823, + "camera_start_end_time_ns": 1792831062021775455, + "camera_first_frame_wait_start_time_ns": 1792831062023126866, + "camera_first_frame_wait_end_time_ns": 1792831062024438943, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831062025753076, + "armed_time_ns": 1792831062154131591, + "waiting_t0_time_ns": 1792831062157199802, + "recording_start_time_ns": 1792831064625779901, + "stop_request_time_ns": 1792831073459459069, + "finalized_time_ns": 1792831074440302856 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061172111876, + "ended_time_ns": 1792831061172329636, + "duration_s": 0.00021776, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061172116987, + "ok": true, + "ended_time_ns": 1792831061172125172, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061172126895, + "ok": true, + "ended_time_ns": 1792831061172129691, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061172130117, + "ok": true, + "ended_time_ns": 1792831061172133265, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061172133598, + "ok": true, + "ended_time_ns": 1792831061172319339, + "duration_s": 0.000185741 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061172320506, + "ok": true, + "ended_time_ns": 1792831061172324025, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061172324543, + "ok": true, + "ended_time_ns": 1792831061172327099, + "duration_s": 2.556e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061172327488, + "ok": true, + "ended_time_ns": 1792831061172329265, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "ebd63fdbc83f41e5b9025e386f21befa", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2281, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831076770117470, + "capture_count": 591, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076765818237, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076779541067 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831076277114848, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9436, + "displayed_count": 9219, + "dropped_count": 217, + "decode_error_count": 0, + "last_receive_time_ns": 1792831076157211483, + "last_frame_time_ns": 1792831076255465074, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831076770117470, + "capture_count": 591, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076765818237, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076779541067 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831076930140574, + "ended_time_ns": 1792831076940579956, + "duration_s": 0.001600059, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831076947500900, + "ended_time_ns": 1792831076947997216, + "duration_s": 0.000496316, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831076947505937, + "ok": true, + "ended_time_ns": 1792831076947516567, + "duration_s": 1.063e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831076947517882, + "ok": true, + "ended_time_ns": 1792831076947521382, + "duration_s": 3.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831076947521882, + "ok": true, + "ended_time_ns": 1792831076947525252, + "duration_s": 3.37e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831076947525623, + "ok": true, + "ended_time_ns": 1792831076947981087, + "duration_s": 0.000455464 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831076947984346, + "ok": true, + "ended_time_ns": 1792831076947990031, + "duration_s": 5.685e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831076947991050, + "ok": true, + "ended_time_ns": 1792831076947993698, + "duration_s": 2.648e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831076947994179, + "ok": true, + "ended_time_ns": 1792831076947996772, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831076948715255, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831076770117470, + "frame_age_s": 0.178631304, + "heartbeat_age_s": 0.169188151, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831076948754015, + "duration_s": 3.876e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831076948755811, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.07421875, + "sample_observed_time_ns": 1792831076765818237, + "sample_age_s": 0.182945796, + "heartbeat_age_s": 0.169217559, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831076948767663, + "duration_s": 1.1852e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831076948772255, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831076948950422, + "duration_s": 0.000178167 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831076940600889, + "ended_time_ns": 1792831077040924437, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163741_00020", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "7cf02df0749946ccb7c96560d4002455", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831077040939926, + "ended_time_ns": 1792831077051649785, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "capture_start_time_ns": 1792831064621314708, + "capture_stop_time_ns": 1792831074435401460, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020/right_hand", + "timing": { + "server_start_request_time_ns": 1792831061190352503, + "subprocess_popen_time_ns": 1792831061196771346, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831061230259411, + "validate_start_time_ns": 1792831062147130093, + "session_dir_create_start_time_ns": 1792831061231063900, + "session_dir_create_end_time_ns": 1792831061232087017, + "as5600_init_start_time_ns": 1792831061233044282, + "as5600_init_end_time_ns": 1792831061233879494, + "as5600_zero_start_time_ns": 1792831061235600953, + "as5600_zero_end_time_ns": 1792831062042348436, + "camera_init_start_time_ns": 1792831062046879451, + "camera_init_end_time_ns": 1792831062048703002, + "camera_start_start_time_ns": 1792831062049645508, + "camera_start_end_time_ns": 1792831062051276005, + "camera_first_frame_wait_start_time_ns": 1792831062052936521, + "camera_first_frame_wait_end_time_ns": 1792831062054548259, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831062056033295, + "armed_time_ns": 1792831062144216354, + "waiting_t0_time_ns": 1792831062148159562, + "recording_start_time_ns": 1792831064623751256, + "stop_request_time_ns": 1792831073547317859, + "finalized_time_ns": 1792831074450987953 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831061175705731, + "ended_time_ns": 1792831061175913839, + "duration_s": 0.000208108, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831061175709694, + "ok": true, + "ended_time_ns": 1792831061175717638, + "duration_s": 7.944e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831061175719008, + "ok": true, + "ended_time_ns": 1792831061175721564, + "duration_s": 2.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831061175722008, + "ok": true, + "ended_time_ns": 1792831061175724693, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831061175725027, + "ok": true, + "ended_time_ns": 1792831061175901469, + "duration_s": 0.000176442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831061175902636, + "ok": true, + "ended_time_ns": 1792831061175906747, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831061175907228, + "ok": true, + "ended_time_ns": 1792831061175910395, + "duration_s": 3.167e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831061175910839, + "ok": true, + "ended_time_ns": 1792831061175913432, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "7cf02df0749946ccb7c96560d4002455", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3109, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831076982653790, + "capture_count": 598, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 203, + "read_count": 1127, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076978437881, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076989149742 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831076185875880, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9751, + "displayed_count": 7817, + "dropped_count": 1932, + "decode_error_count": 0, + "last_receive_time_ns": 1792831076127440658, + "last_frame_time_ns": 1792831076105433888, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831076982653790, + "capture_count": 598, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 203, + "read_count": 1127, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076978437881, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076989149742 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831077074946966, + "ended_time_ns": 1792831077085133590, + "duration_s": 0.00108906, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077075153829, + "ended_time_ns": 1792831077075369548, + "duration_s": 0.000215719, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077075157810, + "ok": true, + "ended_time_ns": 1792831077075165736, + "duration_s": 7.926e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077075166921, + "ok": true, + "ended_time_ns": 1792831077075169810, + "duration_s": 2.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077075170273, + "ok": true, + "ended_time_ns": 1792831077075173236, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077075173569, + "ok": true, + "ended_time_ns": 1792831077075357197, + "duration_s": 0.000183628 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077075358271, + "ok": true, + "ended_time_ns": 1792831077075362326, + "duration_s": 4.055e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077075362956, + "ok": true, + "ended_time_ns": 1792831077075366178, + "duration_s": 3.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077075366530, + "ok": true, + "ended_time_ns": 1792831077075369011, + "duration_s": 2.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831077075998484, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831076982653790, + "frame_age_s": 0.093374972, + "heartbeat_age_s": 0.086861668, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831077076033391, + "duration_s": 3.4907e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831077076034928, + "status_ok": true, + "gap_mm": 84.79299102238743, + "reference_angle_deg": 278.7248006393395, + "sample_observed_time_ns": 1792831076978437881, + "sample_age_s": 0.097604325, + "heartbeat_age_s": 0.086887798, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831077076046151, + "duration_s": 1.1223e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831077076050891, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831077076159093, + "duration_s": 0.000108202 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831077085157807, + "ended_time_ns": 1792831077186233708, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831356997055011, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831351204785392, + "ended_time_ns": 1792831351219101684, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831351219234543, + "ended_time_ns": 1792831351269107101, + "transferred_bytes": 13701, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,701 bytes\nTotal transferred file size: 13,701 bytes\nLiteral data: 13,701 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,837\n\nsent 46 bytes received 13,837 bytes 27,766.00 bytes/sec\ntotal size is 13,701 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831351269682881, + "ended_time_ns": 1792831356995543002, + "transferred_bytes": 13483982, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,483,982 bytes\nTotal transferred file size: 13,483,982 bytes\nLiteral data: 13,483,982 bytes\nMatched data: 0 bytes\nFile list size: 228\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,487,684\n\nsent 168 bytes received 13,487,684 bytes 2,452,336.73 bytes/sec\ntotal size is 13,483,982 speedup is 1.00" + } + ], + "transferred_bytes": 13497683, + "copied_local_bytes": 14120588, + "started_time_ns": 1792831351204473988, + "ended_time_ns": 1792831356996088380 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831351205396025, + "ended_time_ns": 1792831351222733745, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831351222897611, + "ended_time_ns": 1792831351267203217, + "transferred_bytes": 13728, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,728 bytes\nTotal transferred file size: 13,728 bytes\nLiteral data: 13,728 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,864\n\nsent 46 bytes received 13,864 bytes 27,820.00 bytes/sec\ntotal size is 13,728 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831351267752736, + "ended_time_ns": 1792831352183359541, + "transferred_bytes": 16447264, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 16,447,264 bytes\nTotal transferred file size: 16,447,264 bytes\nLiteral data: 16,447,264 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 16,451,685\n\nsent 168 bytes received 16,451,685 bytes 10,967,902.00 bytes/sec\ntotal size is 16,447,264 speedup is 1.00" + } + ], + "transferred_bytes": 16460992, + "copied_local_bytes": 17069044, + "started_time_ns": 1792831351204702320, + "ended_time_ns": 1792831352183919623 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163757_00021", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832833202001208, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832832750180937, + "ended_time_ns": 1792832833201551415, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832750180937, + "ended_time_ns": 1792832832967972534, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163757_00021", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163757_00021 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163757_00021\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831080793719006\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831080793719006，vive_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831090839754205，vive_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006820s，first=1792831080800539345，T0=1792831080793719006，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004193s，last=1792831090835561603，Tstop=1792831090839754205，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2008\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 199.99955639360974 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 199.99955639360974 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2008，metadata 2008\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 199.99955637849183 Hz，最低 150.0 Hz，时长 10.035022258758545 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 199.99955637849183 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.0059583187103271484s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992621667..1.0000000006545762，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0031923615260565316m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9229939831441295deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=402 duration=10.05s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=402，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 402，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=401，rows=402，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=402，monotonic违规=0，估算频率=40.028511883774264Hz，最大间隔=0.0368307s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 402，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02851166001424 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02851166001424 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.036831163s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 603，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 17.8503..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 603，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99995745385072 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99995745385072 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021860201s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=603，bad_rows=0，monotonic违规=0，估算频率=59.99995800999616Hz，最大间隔=0.021860257s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 402，metadata 401\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 603，metadata 603\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 402，timestamps 402，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=402，timestamps=402，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.05s，timestamps=10.017859354999995s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.017859354999995s，clamp=10.033340448000008s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831080793719006，pi_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831090839754205，pi_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.025184s，first=1792831080818903235，T0=1792831080793719006，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.005429s，first=1792831080799147799，T0=1792831080793719006，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.002992s，last=1792831090836762590，Tstop=1792831090839754205，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007266s，last=1792831090832488247，Tstop=1792831090839754205，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.017163s，vive=10.035022258s，camera=10.017859354999995s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001682s，vive=10.035022258s，clamp=10.033340448000008s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.018364s，vive_first=1792831080800539345，camera_first=1792831080818903235，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001392s，vive_first=1792831080800539345，clamp_first=1792831080799147799，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.001201s，vive_last=1792831090835561603，camera_last=1792831090836762590，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003073s，vive_last=1792831090835561603，clamp_last=1792831090832488247，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832968284252, + "ended_time_ns": 1792832833201551415, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163757_00021", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163757_00021 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163757_00021\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831080793719006\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831080793719006，vive_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831090839754205，vive_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006820s，first=1792831080800539345，T0=1792831080793719006，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004193s，last=1792831090835561603，Tstop=1792831090839754205，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2008\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 199.99955639360974 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 199.99955639360974 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2008，metadata 2008\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 199.99955637849183 Hz，最低 150.0 Hz，时长 10.035022258758545 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 199.99955637849183 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.0059583187103271484s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994251564..1.000000000572682，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.004793461662504561m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=1.2607589460377762deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=402 duration=10.05s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=402，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 402，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=401，rows=402，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=402，monotonic违规=0，估算频率=40.027817700246565Hz，最大间隔=0.032338617s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 402，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02781666539227 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02781666539227 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032337783s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 603，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.0345..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 603，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999969204666925 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999969204666925 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.02098995s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=603，bad_rows=0，monotonic违规=0，估算频率=59.99996776347247Hz，最大间隔=0.020989986s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 402，metadata 402\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 603，metadata 603\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 402，timestamps 402，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=402，timestamps=402，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.05s，timestamps=10.018033293s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.018033293s，clamp=10.033338483000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831080793719006，pi_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831090839754205，pi_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.011427s，first=1792831080805145932，T0=1792831080793719006，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.001175s，first=1792831080794894380，T0=1792831080793719006，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.016575s，last=1792831090823179225，Tstop=1792831090839754205，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.011521s，last=1792831090828232863，Tstop=1792831090839754205，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016989s，vive=10.035022258s，camera=10.018033293s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001684s，vive=10.035022258s，clamp=10.033338483000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004607s，vive_first=1792831080800539345，camera_first=1792831080805145932，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005645s，vive_first=1792831080800539345，clamp_first=1792831080794894380，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.012382s，vive_last=1792831090835561603，camera_last=1792831090823179225，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.007329s，vive_last=1792831090835561603，clamp_last=1792831090828232863，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163757_00021\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831080793719006\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831080793719006，vive_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831090839754205，vive_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006820s，first=1792831080800539345，T0=1792831080793719006，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004193s，last=1792831090835561603，Tstop=1792831090839754205，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2008\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 199.99955639360974 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 199.99955639360974 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2008，metadata 2008\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 199.99955637849183 Hz，最低 150.0 Hz，时长 10.035022258758545 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 199.99955637849183 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.0059583187103271484s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992621667..1.0000000006545762，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0031923615260565316m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9229939831441295deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=402 duration=10.05s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=402，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 402，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=401，rows=402，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=402，monotonic违规=0，估算频率=40.028511883774264Hz，最大间隔=0.0368307s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 402，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02851166001424 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02851166001424 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.036831163s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 603，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 17.8503..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 603，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99995745385072 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99995745385072 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021860201s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=603，bad_rows=0，monotonic违规=0，估算频率=59.99995800999616Hz，最大间隔=0.021860257s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 402，metadata 401\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 603，metadata 603\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 402，timestamps 402，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=402，timestamps=402，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.05s，timestamps=10.017859354999995s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.017859354999995s，clamp=10.033340448000008s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831080793719006，pi_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831090839754205，pi_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.025184s，first=1792831080818903235，T0=1792831080793719006，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.005429s，first=1792831080799147799，T0=1792831080793719006，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.002992s，last=1792831090836762590，Tstop=1792831090839754205，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007266s，last=1792831090832488247，Tstop=1792831090839754205，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.017163s，vive=10.035022258s，camera=10.017859354999995s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001682s，vive=10.035022258s，clamp=10.033340448000008s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.018364s，vive_first=1792831080800539345，camera_first=1792831080818903235，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001392s，vive_first=1792831080800539345，clamp_first=1792831080799147799，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.001201s，vive_last=1792831090835561603，camera_last=1792831090836762590，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003073s，vive_last=1792831090835561603，clamp_last=1792831090832488247，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163757_00021\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831080793719006\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831080793719006，vive_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831090839754205，vive_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006820s，first=1792831080800539345，T0=1792831080793719006，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004193s，last=1792831090835561603，Tstop=1792831090839754205，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2008\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 199.99955639360974 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 199.99955639360974 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2008，metadata 2008\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 199.99955637849183 Hz，最低 150.0 Hz，时长 10.035022258758545 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 199.99955637849183 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.0059583187103271484s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994251564..1.000000000572682，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.004793461662504561m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=1.2607589460377762deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=402 duration=10.05s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=402，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 402，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=401，rows=402，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=402，monotonic违规=0，估算频率=40.027817700246565Hz，最大间隔=0.032338617s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 402，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02781666539227 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02781666539227 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032337783s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 603，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.0345..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 603，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999969204666925 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999969204666925 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.02098995s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=603，bad_rows=0，monotonic违规=0，估算频率=59.99996776347247Hz，最大间隔=0.020989986s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 402，metadata 402\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 603，metadata 603\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 402，timestamps 402，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=402，timestamps=402，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.05s，timestamps=10.018033293s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=10.018033293s，clamp=10.033338483000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831080793719006，pi_T0=1792831080793719006，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831090839754205，pi_Tstop=1792831090839754205，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.011427s，first=1792831080805145932，T0=1792831080793719006，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.001175s，first=1792831080794894380，T0=1792831080793719006，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.016575s，last=1792831090823179225，Tstop=1792831090839754205，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.011521s，last=1792831090828232863，Tstop=1792831090839754205，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016989s，vive=10.035022258s，camera=10.018033293s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001684s，vive=10.035022258s，clamp=10.033338483000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004607s，vive_first=1792831080800539345，camera_first=1792831080805145932，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005645s，vive_first=1792831080800539345，clamp_first=1792831080794894380，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.012382s，vive_last=1792831090835561603，camera_last=1792831090823179225，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.007329s，vive_last=1792831090835561603，clamp_last=1792831090828232863，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163757_00021_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812826050964 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163757_00021/control/stop_left_hand.flag b/opening and closing/session_20261024_163757_00021/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..2016349765afff140e00220c0d101fb7f4029cdc --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831090839754205 \ No newline at end of file diff --git a/opening and closing/session_20261024_163757_00021/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163757_00021/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..386fece17e13ce0b54900d1cc8b412e1ea3a4ca4 --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,603 @@ +1792831080.799147799 100.0000 +1792831080.815830524 100.0000 +1792831080.832486602 100.0000 +1792831080.849154624 100.0000 +1792831080.866711796 100.0000 +1792831080.882497204 100.0000 +1792831080.899151374 100.0000 +1792831080.915827767 100.0000 +1792831080.932484159 100.0000 +1792831080.949156014 100.0000 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_163757_00021", + "control_generation": 25, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 101.07421875, + "reference_source": "max_open_init", + "zero_angle_deg": 101.07421875, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.87e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831080794574825, + "camera_frame_count": 401, + "camera_started_time_ns": 1792831078211461596, + "camera_stopped_time_ns": 1792831090846406336, + "camera_actual_fps": 31.737376636915943, + "camera_first_frame_time_ns": 1792831080818903235, + "camera_last_frame_time_ns": 1792831090810827416, + "camera_frame_timestamp_fps": 40.03232938462586, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831090836762590, + "capture_count": 506, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 603, + "clamp_first_sample_time_ns": 1792831080799147799, + "clamp_last_sample_time_ns": 1792831090832488247, + "clamp_actual_hz": 59.99995745385076, + "clamp_value_min": 17.850259876394915, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 203, + "read_count": 984, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2255 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e520546c945db8c7779f4be091fb7c8230ce31ae --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831077291259829, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163757_00021", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + 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"robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + 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"pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163741_00020", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + 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1792831076947516567, + "duration_s": 1.063e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831076947517882, + "ok": true, + "ended_time_ns": 1792831076947521382, + "duration_s": 3.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831076947521882, + "ok": true, + "ended_time_ns": 1792831076947525252, + "duration_s": 3.37e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831076947525623, + "ok": true, + "ended_time_ns": 1792831076947981087, + "duration_s": 0.000455464 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831076947984346, + "ok": true, + "ended_time_ns": 1792831076947990031, + "duration_s": 5.685e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831076947991050, + "ok": true, + "ended_time_ns": 1792831076947993698, + "duration_s": 2.648e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831076947994179, + "ok": true, + "ended_time_ns": 1792831076947996772, + "duration_s": 2.593e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831076948715255, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831076770117470, + "frame_age_s": 0.178631304, + "heartbeat_age_s": 0.169188151, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831076948754015, + "duration_s": 3.876e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831076948755811, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.07421875, + "sample_observed_time_ns": 1792831076765818237, + "sample_age_s": 0.182945796, + "heartbeat_age_s": 0.169217559, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831076948767663, + "duration_s": 1.1852e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831076948768737, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831076948770996, + "duration_s": 2.259e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831076948772255, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831076948950422, + "duration_s": 0.000178167 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "ebd63fdbc83f41e5b9025e386f21befa", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2281, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831077269923479, + "capture_count": 611, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831077282481954, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831077287628299 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831076277114848, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9436, + "displayed_count": 9219, + "dropped_count": 217, + "decode_error_count": 0, + "last_receive_time_ns": 1792831076157211483, + "last_frame_time_ns": 1792831076255465074, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831077269923479, + "capture_count": 611, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831077282481954, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831077287628299 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077311105151, + "ended_time_ns": 1792831077336836960, + "duration_s": 0.000304982, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077341926783, + "ok": true, + "ended_time_ns": 1792831077341939524, + "duration_s": 1.2741e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077341941653, + "ok": true, + "ended_time_ns": 1792831077341945561, + "duration_s": 3.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077341946024, + "ok": true, + "ended_time_ns": 1792831077341951728, + "duration_s": 5.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077341952098, + "ok": true, + "ended_time_ns": 1792831077342211821, + "duration_s": 0.000259723 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077342213321, + "ok": true, + "ended_time_ns": 1792831077342217728, + "duration_s": 4.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077342218302, + "ok": true, + "ended_time_ns": 1792831077342221413, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077342221765, + "ok": true, + "ended_time_ns": 1792831077342224765, + "duration_s": 3e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163757_00021", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7150df6decd14e6d9ce9e6dd6a3c1afe", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831077367723716, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "timing": { + "server_start_request_time_ns": 1792831077362697648, + "subprocess_popen_time_ns": 1792831077367723716, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077341920172, + "ended_time_ns": 1792831077342225154, + "duration_s": 0.000304982, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077341926783, + "ok": true, + "ended_time_ns": 1792831077341939524, + "duration_s": 1.2741e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077341941653, + "ok": true, + "ended_time_ns": 1792831077341945561, + "duration_s": 3.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077341946024, + "ok": true, + "ended_time_ns": 1792831077341951728, + "duration_s": 5.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077341952098, + "ok": true, + "ended_time_ns": 1792831077342211821, + "duration_s": 0.000259723 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077342213321, + "ok": true, + "ended_time_ns": 1792831077342217728, + "duration_s": 4.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077342218302, + "ok": true, + "ended_time_ns": 1792831077342221413, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077342221765, + "ok": true, + "ended_time_ns": 1792831077342224765, + "duration_s": 3e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7150df6decd14e6d9ce9e6dd6a3c1afe", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2282, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831077269923479, + "capture_count": 611, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831077282481954, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831077287628299 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831077331788129, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9446, + "displayed_count": 9228, + "dropped_count": 217, + "decode_error_count": 0, + "last_receive_time_ns": 1792831077327890916, + "last_frame_time_ns": 1792831077300651887, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831077269923479, + "capture_count": 611, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831077282481954, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831077287628299 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831077341052467, + "ended_time_ns": 1792831077367476431 + }, + "pi_start_request_time_ns": 1792831077367484834, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831077371472781, + "capture_start_time_ns": 1792831080793719006, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831089881585258, + "capture_stop_time_ns": 1792831090839754205, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163757_00021", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7150df6decd14e6d9ce9e6dd6a3c1afe", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831077367723716, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "timing": { + "server_start_request_time_ns": 1792831077362697648, + "subprocess_popen_time_ns": 1792831077367723716, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831077397565733, + "validate_start_time_ns": 1792831078329223122, + "session_dir_create_start_time_ns": 1792831077398415513, + "session_dir_create_end_time_ns": 1792831077401327483, + "as5600_init_start_time_ns": 1792831077402367633, + "as5600_init_end_time_ns": 1792831077403213247, + "as5600_zero_start_time_ns": 1792831077404660843, + "as5600_zero_end_time_ns": 1792831078206877826, + "camera_init_start_time_ns": 1792831078208861071, + "camera_init_end_time_ns": 1792831078211469207, + "camera_start_start_time_ns": 1792831078212815970, + "camera_start_end_time_ns": 1792831078214108917, + "camera_first_frame_wait_start_time_ns": 1792831078217917797, + "camera_first_frame_wait_end_time_ns": 1792831078219461226, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831078221152508, + "armed_time_ns": 1792831078328239509, + "waiting_t0_time_ns": 1792831078331232220, + "recording_start_time_ns": 1792831080794599251, + "stop_request_time_ns": 1792831089899421632, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077341920172, + "ended_time_ns": 1792831077342225154, + "duration_s": 0.000304982, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077341926783, + "ok": true, + "ended_time_ns": 1792831077341939524, + "duration_s": 1.2741e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077341941653, + "ok": true, + "ended_time_ns": 1792831077341945561, + "duration_s": 3.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077341946024, + "ok": true, + "ended_time_ns": 1792831077341951728, + "duration_s": 5.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077341952098, + "ok": true, + "ended_time_ns": 1792831077342211821, + "duration_s": 0.000259723 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077342213321, + "ok": true, + "ended_time_ns": 1792831077342217728, + "duration_s": 4.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077342218302, + "ok": true, + "ended_time_ns": 1792831077342221413, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077342221765, + "ok": true, + "ended_time_ns": 1792831077342224765, + "duration_s": 3e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7150df6decd14e6d9ce9e6dd6a3c1afe", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2282, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 24, + "last_bootstrap_time_ns": 1792831075251086082, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831077370720983, + "capture_count": 615, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 177, + "max_queue_depth": 177, + "read_count": 177, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831077382485381, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831077393557742 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831089882777979, + "ended_time_ns": 1792831089895309085, + "capture_stop_time_ns": 1792831090839754205, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163757_00021", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 217152 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 218904 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141701 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 219524 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 218872 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129853 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163757_00021", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7150df6decd14e6d9ce9e6dd6a3c1afe", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831090850943134, + "ended_time_ns": 1792831090863523340, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "timing": { + "server_start_request_time_ns": 1792831077362697648, + "subprocess_popen_time_ns": 1792831077367723716, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831077397565733, + "validate_start_time_ns": 1792831078329223122, + "session_dir_create_start_time_ns": 1792831077398415513, + "session_dir_create_end_time_ns": 1792831077401327483, + "as5600_init_start_time_ns": 1792831077402367633, + "as5600_init_end_time_ns": 1792831077403213247, + "as5600_zero_start_time_ns": 1792831077404660843, + "as5600_zero_end_time_ns": 1792831078206877826, + "camera_init_start_time_ns": 1792831078208861071, + "camera_init_end_time_ns": 1792831078211469207, + "camera_start_start_time_ns": 1792831078212815970, + "camera_start_end_time_ns": 1792831078214108917, + "camera_first_frame_wait_start_time_ns": 1792831078217917797, + "camera_first_frame_wait_end_time_ns": 1792831078219461226, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831078221152508, + "armed_time_ns": 1792831078328239509, + "waiting_t0_time_ns": 1792831078331232220, + "recording_start_time_ns": 1792831080794599251, + "stop_request_time_ns": 1792831089901263636, + "finalized_time_ns": 1792831090848105396 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077341920172, + "ended_time_ns": 1792831077342225154, + "duration_s": 0.000304982, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077341926783, + "ok": true, + "ended_time_ns": 1792831077341939524, + "duration_s": 1.2741e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077341941653, + "ok": true, + "ended_time_ns": 1792831077341945561, + "duration_s": 3.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077341946024, + "ok": true, + "ended_time_ns": 1792831077341951728, + "duration_s": 5.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077341952098, + "ok": true, + "ended_time_ns": 1792831077342211821, + "duration_s": 0.000259723 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077342213321, + "ok": true, + "ended_time_ns": 1792831077342217728, + "duration_s": 4.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077342218302, + "ok": true, + "ended_time_ns": 1792831077342221413, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077342221765, + "ok": true, + "ended_time_ns": 1792831077342224765, + "duration_s": 3e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7150df6decd14e6d9ce9e6dd6a3c1afe", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2282, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831090836762590, + "capture_count": 506, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 203, + "read_count": 985, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831090849289473, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831090855860081 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831090106171411, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9556, + "displayed_count": 9330, + "dropped_count": 225, + "decode_error_count": 0, + "last_receive_time_ns": 1792831090058928778, + "last_frame_time_ns": 1792831090106062392, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831090836762590, + "capture_count": 506, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 203, + "read_count": 985, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831090849289473, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831090855860081 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 1 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831090889191311, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831090889190763 + } + }, + "updated_time_ns": 1792831090889192230 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d65b41a7727828461d6030353ccad9c71ab29de9 --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831077374399114, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "effective_capture_stop_time_ns": 1792831090839754205, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.14877210557460785, + "y0": -0.743719220161438, + "z0": -0.6068695783615112, + "qx0": 0.10551401139789408, + "qy0": 0.6862838668857988, + "qz0": -0.1419179343573996, + "qw0": 0.705507297877725 + }, + "zero_reference_sample_ns": 1792831080800539345 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 2008, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + "recording_invalid_pose_reads": 0, + "started_time_ns": 1792831080795391546, + "effective_record_start_time_ns": 1792831080795391546, + "stopped_time_ns": 1792831090840871881, + "effective_capture_stop_time_ns": 1792831090839754205, + "first_sample_time_ns": 1792831080800539345, + "last_sample_time_ns": 1792831090835561603, + "sample_duration_s": 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1792831090843722199, + "camera_actual_fps": 31.716172846519484, + "camera_first_frame_time_ns": 1792831080805145932, + "camera_last_frame_time_ns": 1792831090823179225, + "camera_frame_timestamp_fps": 40.02781666539227, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831090823179225, + "capture_count": 507, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 603, + "clamp_first_sample_time_ns": 1792831080794894380, + "clamp_last_sample_time_ns": 1792831090828232863, + "clamp_actual_hz": 59.99996920466697, + "clamp_value_min": 42.03452916511978, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 207, + "read_count": 1958, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2256 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..50059dceb353d9a9503eeea31321517862e1c28d --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831077249938260, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163757_00021", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + 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2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + 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"/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163741_00020", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163741_00020", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163741_00020", + "--control-generation", + "24", + "--ready-token", + "7cf02df0749946ccb7c96560d4002455", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831077250648508, + "ended_time_ns": 1792831077272725539, + "returncode": 0, + "last_error": null, + "log_path": 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"ended_time_ns": 1792831077076046151, + "duration_s": 1.1223e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831077076047132, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831077076049836, + "duration_s": 2.704e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831077076050891, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831077076159093, + "duration_s": 0.000108202 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 24, + "ready_token": "7cf02df0749946ccb7c96560d4002455", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163741_00020.ready.json", + "arm_request_id": "2838fb65cead419faf86e4ac8058df62", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3109, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831076982653790, + "capture_count": 598, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 203, + "read_count": 1127, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076978437881, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076989149742 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831077198087954, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9760, + "displayed_count": 7824, + "dropped_count": 1934, + "decode_error_count": 0, + "last_receive_time_ns": 1792831077192644784, + "last_frame_time_ns": 1792831077061364304, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831076982653790, + "capture_count": 598, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 203, + "read_count": 1127, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076978437881, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076989149742 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 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(striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7dfc46337db648dab94ad4c4ae533c15", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3110, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831076982653790, + "capture_count": 598, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 203, + "read_count": 1127, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076978437881, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076989149742 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831077198087954, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9760, + "displayed_count": 7824, + "dropped_count": 1934, + "decode_error_count": 0, + "last_receive_time_ns": 1792831077192644784, + "last_frame_time_ns": 1792831077061364304, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163741_00020", + "generation": 24, + "session_count": 24, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831076982653790, + "capture_count": 598, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 203, + "read_count": 1127, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831076978437881, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831076989149742 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831077290295898, + "ended_time_ns": 1792831077323860529 + }, + "pi_start_request_time_ns": 1792831077323871122, + "capture_start_time_ns": 1792831080793719006, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831090008953871, + "capture_stop_time_ns": 1792831090839754205, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163757_00021", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7dfc46337db648dab94ad4c4ae533c15", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831077298487909, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "timing": { + "server_start_request_time_ns": 1792831077293717045, + "subprocess_popen_time_ns": 1792831077298487909, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831077350668639, + "validate_start_time_ns": 1792831078302991694, + "session_dir_create_start_time_ns": 1792831077351444221, + "session_dir_create_end_time_ns": 1792831077352394542, + "as5600_init_start_time_ns": 1792831077353584897, + "as5600_init_end_time_ns": 1792831077354601162, + "as5600_zero_start_time_ns": 1792831077358021062, + "as5600_zero_end_time_ns": 1792831078164303292, + "camera_init_start_time_ns": 1792831078166176971, + "camera_init_end_time_ns": 1792831078168805159, + "camera_start_start_time_ns": 1792831078169711444, + "camera_start_end_time_ns": 1792831078171076537, + "camera_first_frame_wait_start_time_ns": 1792831078172472353, + "camera_first_frame_wait_end_time_ns": 1792831078173816946, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831078175041227, + "armed_time_ns": 1792831078301999577, + "waiting_t0_time_ns": 1792831078306500056, + "recording_start_time_ns": 1792831080796838522, + "stop_request_time_ns": 1792831090009475351, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077277309777, + "ended_time_ns": 1792831077277523848, + "duration_s": 0.000214071, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077277314129, + "ok": true, + "ended_time_ns": 1792831077277322221, + "duration_s": 8.092e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077277323943, + "ok": true, + "ended_time_ns": 1792831077277326758, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077277327184, + "ok": true, + "ended_time_ns": 1792831077277329999, + "duration_s": 2.815e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077277330388, + "ok": true, + "ended_time_ns": 1792831077277511237, + "duration_s": 0.000180849 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077277512774, + "ok": true, + "ended_time_ns": 1792831077277516885, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077277517478, + "ok": true, + "ended_time_ns": 1792831077277520182, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077277520533, + "ok": true, + "ended_time_ns": 1792831077277523330, + "duration_s": 2.797e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7dfc46337db648dab94ad4c4ae533c15", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3110, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 24, + "last_bootstrap_time_ns": 1792831074454663572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831077333554898, + "capture_count": 612, + "capture_error_count": 0, + "writer_count": 393, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.7248006393395, + "gripper_gap_mm": 84.79299102238743, + "status_ok": true, + "queue_size": 600, + "queue_depth": 174, + "max_queue_depth": 203, + "read_count": 1148, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831077328275022, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831077345229413 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831090009401197, + "ended_time_ns": 1792831090022606710, + "capture_stop_time_ns": 1792831090839754205, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163757_00021", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7dfc46337db648dab94ad4c4ae533c15", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831091040813306, + "ended_time_ns": 1792831091052646403, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "timing": { + "server_start_request_time_ns": 1792831077293717045, + "subprocess_popen_time_ns": 1792831077298487909, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831077350668639, + "validate_start_time_ns": 1792831078302991694, + "session_dir_create_start_time_ns": 1792831077351444221, + "session_dir_create_end_time_ns": 1792831077352394542, + "as5600_init_start_time_ns": 1792831077353584897, + "as5600_init_end_time_ns": 1792831077354601162, + "as5600_zero_start_time_ns": 1792831077358021062, + "as5600_zero_end_time_ns": 1792831078164303292, + "camera_init_start_time_ns": 1792831078166176971, + "camera_init_end_time_ns": 1792831078168805159, + "camera_start_start_time_ns": 1792831078169711444, + "camera_start_end_time_ns": 1792831078171076537, + "camera_first_frame_wait_start_time_ns": 1792831078172472353, + "camera_first_frame_wait_end_time_ns": 1792831078173816946, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831078175041227, + "armed_time_ns": 1792831078301999577, + "waiting_t0_time_ns": 1792831078306500056, + "recording_start_time_ns": 1792831080796838522, + "stop_request_time_ns": 1792831090013555150, + "finalized_time_ns": 1792831090847839146 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077277309777, + "ended_time_ns": 1792831077277523848, + "duration_s": 0.000214071, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077277314129, + "ok": true, + "ended_time_ns": 1792831077277322221, + "duration_s": 8.092e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077277323943, + "ok": true, + "ended_time_ns": 1792831077277326758, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077277327184, + "ok": true, + "ended_time_ns": 1792831077277329999, + "duration_s": 2.815e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077277330388, + "ok": true, + "ended_time_ns": 1792831077277511237, + "duration_s": 0.000180849 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077277512774, + "ok": true, + "ended_time_ns": 1792831077277516885, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077277517478, + "ok": true, + "ended_time_ns": 1792831077277520182, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077277520533, + "ok": true, + "ended_time_ns": 1792831077277523330, + "duration_s": 2.797e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7dfc46337db648dab94ad4c4ae533c15", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3110, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831090853665181, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 207, + "read_count": 1959, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831090845214773, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831090855022053 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831090290145001, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9874, + "displayed_count": 7896, + "dropped_count": 1976, + "decode_error_count": 0, + "last_receive_time_ns": 1792831090245145697, + "last_frame_time_ns": 1792831090111719004, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831090853665181, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 207, + "read_count": 1959, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831090845214773, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831090855022053 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792831091055551848 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4f55c262903bcc6e082f32893045e80f81464e --- /dev/null +++ b/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831077374412252, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "effective_capture_stop_time_ns": 1792831090839754205, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163757_00021/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.13713140785694122, + "y0": -0.7382512092590332, + "z0": -1.0234127044677734, + "qx0": 0.11149331180745438, + "qy0": 0.6752157065311372, + "qz0": -0.1327834463951683, + "qw0": 0.7169529604090386 + }, + "zero_reference_sample_ns": 1792831080800539345 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 2008, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + 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192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, 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time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7150df6decd14e6d9ce9e6dd6a3c1afe", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2282, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831093885489800, + "capture_count": 628, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 203, + "read_count": 1167, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831093882498256, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831093891336092 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831093347832052, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9584, + "displayed_count": 9358, + "dropped_count": 226, + "decode_error_count": 0, + "last_receive_time_ns": 1792831093241533979, + "last_frame_time_ns": 1792831093338527214, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831093885489800, + "capture_count": 628, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 203, + "read_count": 1167, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831093882498256, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831093891336092 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831094309667063, + "ended_time_ns": 1792831094329305884, + "duration_s": 0.001275355, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094337175285, + "ended_time_ns": 1792831094337420230, + "duration_s": 0.000244945, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094337179118, + "ok": true, + "ended_time_ns": 1792831094337187507, + "duration_s": 8.389e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094337188785, + "ok": true, + "ended_time_ns": 1792831094337191729, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094337192192, + "ok": true, + "ended_time_ns": 1792831094337195433, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094337195859, + "ok": true, + "ended_time_ns": 1792831094337408322, + "duration_s": 0.000212463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094337409748, + "ok": true, + "ended_time_ns": 1792831094337413341, + "duration_s": 3.593e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094337413989, + "ok": true, + "ended_time_ns": 1792831094337416915, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094337417526, + "ok": true, + "ended_time_ns": 1792831094337419767, + "duration_s": 2.241e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831094338178195, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831093885489800, + "frame_age_s": 0.452721061, + "heartbeat_age_s": 0.446855288, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094338216547, + "duration_s": 3.8352e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831094338218621, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.07421875, + "sample_observed_time_ns": 1792831093882498256, + "sample_age_s": 0.455729217, + "heartbeat_age_s": 0.446886251, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094338231584, + "duration_s": 1.2963e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831094338236787, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831094338351584, + "duration_s": 0.000114797 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831094329316349, + "ended_time_ns": 1792831094421621045, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163757_00021", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7dfc46337db648dab94ad4c4ae533c15", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831094421636217, + "ended_time_ns": 1792831094435142010, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/right_hand", + "timing": { + "server_start_request_time_ns": 1792831077293717045, + "subprocess_popen_time_ns": 1792831077298487909, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831077350668639, + "validate_start_time_ns": 1792831078302991694, + "session_dir_create_start_time_ns": 1792831077351444221, + "session_dir_create_end_time_ns": 1792831077352394542, + "as5600_init_start_time_ns": 1792831077353584897, + "as5600_init_end_time_ns": 1792831077354601162, + "as5600_zero_start_time_ns": 1792831077358021062, + "as5600_zero_end_time_ns": 1792831078164303292, + "camera_init_start_time_ns": 1792831078166176971, + "camera_init_end_time_ns": 1792831078168805159, + "camera_start_start_time_ns": 1792831078169711444, + "camera_start_end_time_ns": 1792831078171076537, + "camera_first_frame_wait_start_time_ns": 1792831078172472353, + "camera_first_frame_wait_end_time_ns": 1792831078173816946, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831078175041227, + "armed_time_ns": 1792831078301999577, + "waiting_t0_time_ns": 1792831078306500056, + "recording_start_time_ns": 1792831080796838522, + "stop_request_time_ns": 1792831090013555150, + "finalized_time_ns": 1792831090847839146 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831077277309777, + "ended_time_ns": 1792831077277523848, + "duration_s": 0.000214071, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831077277314129, + "ok": true, + "ended_time_ns": 1792831077277322221, + "duration_s": 8.092e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831077277323943, + "ok": true, + "ended_time_ns": 1792831077277326758, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831077277327184, + "ok": true, + "ended_time_ns": 1792831077277329999, + "duration_s": 2.815e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831077277330388, + "ok": true, + "ended_time_ns": 1792831077277511237, + "duration_s": 0.000180849 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831077277512774, + "ok": true, + "ended_time_ns": 1792831077277516885, + "duration_s": 4.111e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831077277517478, + "ok": true, + "ended_time_ns": 1792831077277520182, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831077277520533, + "ok": true, + "ended_time_ns": 1792831077277523330, + "duration_s": 2.797e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7dfc46337db648dab94ad4c4ae533c15", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3110, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094397370982, + "capture_count": 650, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 214, + "read_count": 2172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094395406638, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094410532793 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831093564058918, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9902, + "displayed_count": 7919, + "dropped_count": 1981, + "decode_error_count": 0, + "last_receive_time_ns": 1792831093521796393, + "last_frame_time_ns": 1792831093491051496, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094397370982, + "capture_count": 650, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 214, + "read_count": 2172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094395406638, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094410532793 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831094459195737, + "ended_time_ns": 1792831094468722408, + "duration_s": 0.001095857, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094459150402, + "ended_time_ns": 1792831094459361844, + "duration_s": 0.000211442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094459154180, + "ok": true, + "ended_time_ns": 1792831094459162217, + "duration_s": 8.037e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094459163198, + "ok": true, + "ended_time_ns": 1792831094459165976, + "duration_s": 2.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094459166457, + "ok": true, + "ended_time_ns": 1792831094459169550, + "duration_s": 3.093e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094459169902, + "ok": true, + "ended_time_ns": 1792831094459349325, + "duration_s": 0.000179423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094459350714, + "ok": true, + "ended_time_ns": 1792831094459354529, + "duration_s": 3.815e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094459355159, + "ok": true, + "ended_time_ns": 1792831094459358473, + "duration_s": 3.314e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094459358899, + "ok": true, + "ended_time_ns": 1792831094459361362, + "duration_s": 2.463e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831094459996095, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831094397370982, + "frame_age_s": 0.062656446, + "heartbeat_age_s": 0.049477135, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094460032724, + "duration_s": 3.6629e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831094460034483, + "status_ok": true, + "gap_mm": 82.38963442597891, + "reference_angle_deg": 278.61328125, + "sample_observed_time_ns": 1792831094395406638, + "sample_age_s": 0.064634938, + "heartbeat_age_s": 0.04950432, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094460045483, + "duration_s": 1.1e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831094460050002, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831094460160000, + "duration_s": 0.000109998 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831094468732178, + "ended_time_ns": 1792831094557867074, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831351198809126, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831344884082421, + "ended_time_ns": 1792831344900483417, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831344900624716, + "ended_time_ns": 1792831344948281335, + "transferred_bytes": 13715, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,715 bytes\nTotal transferred file size: 13,715 bytes\nLiteral data: 13,715 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,851\n\nsent 46 bytes received 13,851 bytes 27,794.00 bytes/sec\ntotal size is 13,715 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831344948462409, + "ended_time_ns": 1792831351197990660, + "transferred_bytes": 15232606, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 15,232,606 bytes\nTotal transferred file size: 15,232,606 bytes\nLiteral data: 15,232,606 bytes\nMatched data: 0 bytes\nFile list size: 233\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 15,236,737\n\nsent 168 bytes received 15,236,737 bytes 2,031,587.33 bytes/sec\ntotal size is 15,232,606 speedup is 1.00" + } + ], + "transferred_bytes": 15246321, + "copied_local_bytes": 15905158, + "started_time_ns": 1792831344883203978, + "ended_time_ns": 1792831351198242553 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831344884134181, + "ended_time_ns": 1792831344903824809, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831344903925700, + "ended_time_ns": 1792831344945570232, + "transferred_bytes": 13728, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,728 bytes\nTotal transferred file size: 13,728 bytes\nLiteral data: 13,728 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,864\n\nsent 46 bytes received 13,864 bytes 27,820.00 bytes/sec\ntotal size is 13,728 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831344945790914, + "ended_time_ns": 1792831345988108055, + "transferred_bytes": 18798800, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 18,798,800 bytes\nTotal transferred file size: 18,798,800 bytes\nLiteral data: 18,798,800 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 18,803,785\n\nsent 168 bytes received 18,803,785 bytes 12,535,968.67 bytes/sec\ntotal size is 18,798,800 speedup is 1.00" + } + ], + "transferred_bytes": 18812528, + "copied_local_bytes": 19456910, + "started_time_ns": 1792831344883507829, + "ended_time_ns": 1792831345988477284 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163814_00022", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832832738582431, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832832277535434, + "ended_time_ns": 1792832832738257764, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832277535434, + "ended_time_ns": 1792832832503317743, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163814_00022", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163814_00022 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163814_00022\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831098895781713\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831098895781713，vive_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831109766491726，vive_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005310s，first=1792831098901091323，T0=1792831098895781713，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000535s，last=1792831109765956533，Tstop=1792831109766491726，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2174\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00248120887642 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00248120887642 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2174，metadata 2174\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00247949618688 Hz，最低 150.0 Hz，时长 10.86486530303955 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00247949618688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006331205368041992s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.999999999298255..1.0000000006193213，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0077916538368621065m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.6504000322368138deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=435 duration=10.875s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=435，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 435，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=434，rows=435，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=435，monotonic违规=0，估算频率=40.02447057766649Hz，最大间隔=0.033938027s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 435，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02447065148945 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02447065148945 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03393736s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 653，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 16.5067..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 653，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99996417486803 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99996417486803 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020404845s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=653，bad_rows=0，monotonic违规=0，估算频率=59.99996294910264Hz，最大间隔=0.02040442s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 435，metadata 435\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 653，metadata 653\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 435，timestamps 435，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=435，timestamps=435，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.875s，timestamps=10.843366394s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=10.843366394s，clamp=10.866673154999997s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831098895781713，pi_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831109766491726，pi_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.009950s，first=1792831098905731626，T0=1792831098895781713，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003365s，first=1792831098899146795，T0=1792831098895781713，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.017394s，last=1792831109749098020，Tstop=1792831109766491726，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000672s，last=1792831109765819950，Tstop=1792831109766491726，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021499s，vive=10.86486521s，camera=10.843366394s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001808s，vive=10.86486521s，clamp=10.866673154999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.004640s，vive_first=1792831098901091323，camera_first=1792831098905731626，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001945s，vive_first=1792831098901091323，clamp_first=1792831098899146795，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.016859s，vive_last=1792831109765956533，camera_last=1792831109749098020，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000137s，vive_last=1792831109765956533，clamp_last=1792831109765819950，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832503863909, + "ended_time_ns": 1792832832738257764, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163814_00022", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163814_00022 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163814_00022\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831098895781713\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831098895781713，vive_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831109766491726，vive_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005310s，first=1792831098901091323，T0=1792831098895781713，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000535s，last=1792831109765956533，Tstop=1792831109766491726，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2174\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00248120887642 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00248120887642 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2174，metadata 2174\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00247949618688 Hz，最低 150.0 Hz，时长 10.86486530303955 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00247949618688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006331205368041992s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993891401..1.0000000006057463，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.028408058458729773m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.8209322727215125deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=435 duration=10.875s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=435，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 435，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=434，rows=435，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=435，monotonic违规=0，估算频率=40.025746197874405Hz，最大间隔=0.032727038s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 435，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02574653748166 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02574653748166 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032726889s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 652，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 46.6411..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 652，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999890092367224 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999890092367224 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019467192s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=652，bad_rows=0，monotonic违规=0，估算频率=59.99989234858025Hz，最大间隔=0.019467488s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 435，metadata 435\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 652，metadata 652\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 435，timestamps 435，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=435，timestamps=435，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.875s，timestamps=10.843020744000006s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=10.843020744000006s，clamp=10.850019875000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831098895781713，pi_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831109766491726，pi_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.022407s，first=1792831098918188387，T0=1792831098895781713，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015780s，first=1792831098911561621，T0=1792831098895781713，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.005283s，last=1792831109761209131，Tstop=1792831109766491726，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004910s，last=1792831109761581496，Tstop=1792831109766491726，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021844s，vive=10.86486521s，camera=10.843020744000006s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.014845s，vive=10.86486521s，clamp=10.850019875000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.017097s，vive_first=1792831098901091323，camera_first=1792831098918188387，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.010470s，vive_first=1792831098901091323，clamp_first=1792831098911561621，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004747s，vive_last=1792831109765956533，camera_last=1792831109761209131，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004375s，vive_last=1792831109765956533，clamp_last=1792831109761581496，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163814_00022\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831098895781713\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831098895781713，vive_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831109766491726，vive_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005310s，first=1792831098901091323，T0=1792831098895781713，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000535s，last=1792831109765956533，Tstop=1792831109766491726，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2174\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00248120887642 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00248120887642 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2174，metadata 2174\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00247949618688 Hz，最低 150.0 Hz，时长 10.86486530303955 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00247949618688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006331205368041992s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.999999999298255..1.0000000006193213，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0077916538368621065m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.6504000322368138deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=435 duration=10.875s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=435，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 435，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=434，rows=435，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=435，monotonic违规=0，估算频率=40.02447057766649Hz，最大间隔=0.033938027s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 435，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02447065148945 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02447065148945 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03393736s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 653，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 16.5067..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 653，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99996417486803 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99996417486803 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020404845s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=653，bad_rows=0，monotonic违规=0，估算频率=59.99996294910264Hz，最大间隔=0.02040442s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 435，metadata 435\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 653，metadata 653\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 435，timestamps 435，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=435，timestamps=435，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.875s，timestamps=10.843366394s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=10.843366394s，clamp=10.866673154999997s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831098895781713，pi_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831109766491726，pi_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.009950s，first=1792831098905731626，T0=1792831098895781713，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003365s，first=1792831098899146795，T0=1792831098895781713，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.017394s，last=1792831109749098020，Tstop=1792831109766491726，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000672s，last=1792831109765819950，Tstop=1792831109766491726，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021499s，vive=10.86486521s，camera=10.843366394s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001808s，vive=10.86486521s，clamp=10.866673154999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.004640s，vive_first=1792831098901091323，camera_first=1792831098905731626，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001945s，vive_first=1792831098901091323，clamp_first=1792831098899146795，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.016859s，vive_last=1792831109765956533，camera_last=1792831109749098020，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000137s，vive_last=1792831109765956533，clamp_last=1792831109765819950，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163814_00022\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831098895781713\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831098895781713，vive_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831109766491726，vive_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005310s，first=1792831098901091323，T0=1792831098895781713，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000535s，last=1792831109765956533，Tstop=1792831109766491726，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2174\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00248120887642 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00248120887642 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2174，metadata 2174\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00247949618688 Hz，最低 150.0 Hz，时长 10.86486530303955 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00247949618688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006331205368041992s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993891401..1.0000000006057463，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.028408058458729773m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.8209322727215125deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=435 duration=10.875s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=435，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 435，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=434，rows=435，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=435，monotonic违规=0，估算频率=40.025746197874405Hz，最大间隔=0.032727038s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 435，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02574653748166 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02574653748166 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032726889s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 652，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 46.6411..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 652，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999890092367224 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999890092367224 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019467192s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=652，bad_rows=0，monotonic违规=0，估算频率=59.99989234858025Hz，最大间隔=0.019467488s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 435，metadata 435\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 652，metadata 652\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 435，timestamps 435，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=435，timestamps=435，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.875s，timestamps=10.843020744000006s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=10.843020744000006s，clamp=10.850019875000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831098895781713，pi_T0=1792831098895781713，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831109766491726，pi_Tstop=1792831109766491726，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.022407s，first=1792831098918188387，T0=1792831098895781713，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015780s，first=1792831098911561621，T0=1792831098895781713，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.005283s，last=1792831109761209131，Tstop=1792831109766491726，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004910s，last=1792831109761581496，Tstop=1792831109766491726，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021844s，vive=10.86486521s，camera=10.843020744000006s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.014845s，vive=10.86486521s，clamp=10.850019875000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.017097s，vive_first=1792831098901091323，camera_first=1792831098918188387，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.010470s，vive_first=1792831098901091323，clamp_first=1792831098911561621，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004747s，vive_last=1792831109765956533，camera_last=1792831109761209131，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004375s，vive_last=1792831109765956533，clamp_last=1792831109761581496，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163814_00022_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812820265280 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163814_00022/control/stop_left_hand.flag b/opening and closing/session_20261024_163814_00022/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..cb9292c95a88306b6bd63b38c80952cc33f59882 --- /dev/null +++ b/opening and closing/session_20261024_163814_00022/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831109766491726 \ No newline at end of file diff --git a/opening and closing/session_20261024_163814_00022/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163814_00022/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..f86c27a412e4c9548267b5c2102c9c0fda049d71 --- /dev/null +++ b/opening and closing/session_20261024_163814_00022/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,653 @@ +1792831098.899146795 100.0000 +1792831098.915818428 100.0000 +1792831098.932502802 100.0000 +1792831098.949148472 100.0000 +1792831098.965790790 100.0000 +1792831098.982690386 100.0000 +1792831098.999152260 100.0000 +1792831099.015816152 100.0000 +1792831099.032514322 100.0000 +1792831099.049149048 100.0000 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1792831098899146795, + "clamp_last_sample_time_ns": 1792831109765819950, + "clamp_actual_hz": 59.99996417486801, + "clamp_value_min": 16.506689360354585, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 248, + "read_count": 2120, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2407 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2c18eecfdf6c1029625ae553bf95b0822f41c83f --- /dev/null +++ b/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831094655250482, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163814_00022", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + 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"--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163757_00021", + "--control-generation", + "25", + "--ready-token", + "7150df6decd14e6d9ce9e6dd6a3c1afe", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831094655788404, + "ended_time_ns": 1792831094673632347, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.diagnostics.json", + "capture_start_time_ns": 1792831080793719006, + "capture_stop_time_ns": 1792831090839754205, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163757_00021/left_hand", + "timing": { + "server_start_request_time_ns": 1792831077362697648, + "subprocess_popen_time_ns": 1792831077367723716, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831077397565733, + "validate_start_time_ns": 1792831078329223122, + "session_dir_create_start_time_ns": 1792831077398415513, + "session_dir_create_end_time_ns": 1792831077401327483, + "as5600_init_start_time_ns": 1792831077402367633, + "as5600_init_end_time_ns": 1792831077403213247, + "as5600_zero_start_time_ns": 1792831077404660843, + "as5600_zero_end_time_ns": 1792831078206877826, + "camera_init_start_time_ns": 1792831078208861071, + "camera_init_end_time_ns": 1792831078211469207, + "camera_start_start_time_ns": 1792831078212815970, + "camera_start_end_time_ns": 1792831078214108917, + "camera_first_frame_wait_start_time_ns": 1792831078217917797, + "camera_first_frame_wait_end_time_ns": 1792831078219461226, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831078221152508, + "armed_time_ns": 1792831078328239509, + "waiting_t0_time_ns": 1792831078331232220, + "recording_start_time_ns": 1792831080794599251, + "stop_request_time_ns": 1792831089901263636, + "finalized_time_ns": 1792831090848105396 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831094337077766, + "ended_time_ns": 1792831094338353121, + "duration_s": 0.001275355, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094337175285, + "ended_time_ns": 1792831094337420230, + "duration_s": 0.000244945, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094337179118, + "ok": true, + "ended_time_ns": 1792831094337187507, + "duration_s": 8.389e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094337188785, + "ok": true, + "ended_time_ns": 1792831094337191729, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094337192192, + "ok": true, + "ended_time_ns": 1792831094337195433, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094337195859, + "ok": true, + "ended_time_ns": 1792831094337408322, + "duration_s": 0.000212463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094337409748, + "ok": true, + "ended_time_ns": 1792831094337413341, + "duration_s": 3.593e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094337413989, + "ok": true, + "ended_time_ns": 1792831094337416915, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094337417526, + "ok": true, + "ended_time_ns": 1792831094337419767, + "duration_s": 2.241e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831094338178195, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831093885489800, + "frame_age_s": 0.452721061, + "heartbeat_age_s": 0.446855288, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094338216547, + "duration_s": 3.8352e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831094338218621, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.07421875, + "sample_observed_time_ns": 1792831093882498256, + "sample_age_s": 0.455729217, + "heartbeat_age_s": 0.446886251, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094338231584, + "duration_s": 1.2963e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831094338232806, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831094338235547, + "duration_s": 2.741e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831094338236787, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831094338351584, + "duration_s": 0.000114797 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7150df6decd14e6d9ce9e6dd6a3c1afe", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2282, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831094385808866, + "capture_count": 648, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 213, + "max_queue_depth": 213, + "read_count": 1197, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094382504228, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094396082631 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831094510260186, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9594, + "displayed_count": 9367, + "dropped_count": 226, + "decode_error_count": 0, + "last_receive_time_ns": 1792831094420236301, + "last_frame_time_ns": 1792831094407013047, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831094385808866, + "capture_count": 648, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 213, + "max_queue_depth": 213, + "read_count": 1197, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094382504228, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094396082631 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094676619324, + "ended_time_ns": 1792831094687364773, + "duration_s": 0.000209779, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094695725414, + "ok": true, + "ended_time_ns": 1792831094695733155, + "duration_s": 7.741e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094695735081, + "ok": true, + "ended_time_ns": 1792831094695737710, + "duration_s": 2.629e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094695738173, + "ok": true, + "ended_time_ns": 1792831094695741266, + "duration_s": 3.093e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094695741599, + "ok": true, + "ended_time_ns": 1792831094695920266, + "duration_s": 0.000178667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094695921303, + "ok": true, + "ended_time_ns": 1792831094695925118, + "duration_s": 3.815e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094695925544, + "ok": true, + "ended_time_ns": 1792831094695928414, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094695928748, + "ok": true, + "ended_time_ns": 1792831094695930674, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163814_00022", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "a45e343ec30d48dc9f5b4456c5c8efc7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831094715774537, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "timing": { + "server_start_request_time_ns": 1792831094710864914, + "subprocess_popen_time_ns": 1792831094715774537, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094695721395, + "ended_time_ns": 1792831094695931174, + "duration_s": 0.000209779, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094695725414, + "ok": true, + "ended_time_ns": 1792831094695733155, + "duration_s": 7.741e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094695735081, + "ok": true, + "ended_time_ns": 1792831094695737710, + "duration_s": 2.629e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094695738173, + "ok": true, + "ended_time_ns": 1792831094695741266, + "duration_s": 3.093e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094695741599, + "ok": true, + "ended_time_ns": 1792831094695920266, + "duration_s": 0.000178667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094695921303, + "ok": true, + "ended_time_ns": 1792831094695925118, + "duration_s": 3.815e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094695925544, + "ok": true, + "ended_time_ns": 1792831094695928414, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094695928748, + "ok": true, + "ended_time_ns": 1792831094695930674, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "a45e343ec30d48dc9f5b4456c5c8efc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2283, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831094385808866, + "capture_count": 648, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + 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false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831094510260186, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9594, + "displayed_count": 9367, + "dropped_count": 226, + "decode_error_count": 0, + "last_receive_time_ns": 1792831094420236301, + "last_frame_time_ns": 1792831094407013047, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831094385808866, + "capture_count": 648, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 213, + "max_queue_depth": 213, + "read_count": 1197, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094382504228, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094396082631 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831094691297777, + "ended_time_ns": 1792831094713052762 + }, + "pi_start_request_time_ns": 1792831094713059090, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831094716573659, + "capture_start_time_ns": 1792831098895781713, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831108946649933, + "capture_stop_time_ns": 1792831109766491726, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163814_00022", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "a45e343ec30d48dc9f5b4456c5c8efc7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831094715774537, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": 1792831098895781713, + "capture_stop_time_ns": 1792831109766491726, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "timing": { + "server_start_request_time_ns": 1792831094710864914, + "subprocess_popen_time_ns": 1792831094715774537, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831094771616209, + "validate_start_time_ns": 1792831096430796493, + "session_dir_create_start_time_ns": 1792831094772674230, + "session_dir_create_end_time_ns": 1792831094773654307, + "as5600_init_start_time_ns": 1792831094774684902, + "as5600_init_end_time_ns": 1792831094775587885, + "as5600_zero_start_time_ns": 1792831094776934722, + "as5600_zero_end_time_ns": 1792831095585271275, + "camera_init_start_time_ns": 1792831095586736297, + "camera_init_end_time_ns": 1792831095588628376, + "camera_start_start_time_ns": 1792831095589492860, + "camera_start_end_time_ns": 1792831095590823289, + "camera_first_frame_wait_start_time_ns": 1792831095592179199, + "camera_first_frame_wait_end_time_ns": 1792831095593493462, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831095594690668, + "armed_time_ns": 1792831096429357397, + "waiting_t0_time_ns": 1792831096436123302, + "recording_start_time_ns": 1792831098901049522, + "stop_request_time_ns": 1792831108963813208, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094695721395, + "ended_time_ns": 1792831094695931174, + "duration_s": 0.000209779, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094695725414, + "ok": true, + "ended_time_ns": 1792831094695733155, + "duration_s": 7.741e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094695735081, + "ok": true, + "ended_time_ns": 1792831094695737710, + "duration_s": 2.629e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094695738173, + "ok": true, + "ended_time_ns": 1792831094695741266, + "duration_s": 3.093e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094695741599, + "ok": true, + "ended_time_ns": 1792831094695920266, + "duration_s": 0.000178667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094695921303, + "ok": true, + "ended_time_ns": 1792831094695925118, + "duration_s": 3.815e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094695925544, + "ok": true, + "ended_time_ns": 1792831094695928414, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094695928748, + "ok": true, + "ended_time_ns": 1792831094695930674, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "a45e343ec30d48dc9f5b4456c5c8efc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2283, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090851277589, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831094758283010, + "capture_count": 663, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.07421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 235, + "max_queue_depth": 235, + "read_count": 1219, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094749154914, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094767215421 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831108947130827, + "ended_time_ns": 1792831108960071349, + "capture_stop_time_ns": 1792831109766491726, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163814_00022", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 234872 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 237091 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141716 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 237808 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 236985 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129818 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163814_00022", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "a45e343ec30d48dc9f5b4456c5c8efc7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831110797450923, + "ended_time_ns": 1792831110810698765, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": 1792831098895781713, + "capture_stop_time_ns": 1792831109766491726, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "timing": { + "server_start_request_time_ns": 1792831094710864914, + "subprocess_popen_time_ns": 1792831094715774537, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831094771616209, + "validate_start_time_ns": 1792831096430796493, + "session_dir_create_start_time_ns": 1792831094772674230, + "session_dir_create_end_time_ns": 1792831094773654307, + "as5600_init_start_time_ns": 1792831094774684902, + "as5600_init_end_time_ns": 1792831094775587885, + "as5600_zero_start_time_ns": 1792831094776934722, + "as5600_zero_end_time_ns": 1792831095585271275, + "camera_init_start_time_ns": 1792831095586736297, + "camera_init_end_time_ns": 1792831095588628376, + "camera_start_start_time_ns": 1792831095589492860, + "camera_start_end_time_ns": 1792831095590823289, + "camera_first_frame_wait_start_time_ns": 1792831095592179199, + "camera_first_frame_wait_end_time_ns": 1792831095593493462, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831095594690668, + "armed_time_ns": 1792831096429357397, + "waiting_t0_time_ns": 1792831096436123302, + "recording_start_time_ns": 1792831098901049522, + "stop_request_time_ns": 1792831108967834792, + "finalized_time_ns": 1792831109771097759 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094695721395, + "ended_time_ns": 1792831094695931174, + "duration_s": 0.000209779, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094695725414, + "ok": true, + "ended_time_ns": 1792831094695733155, + "duration_s": 7.741e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094695735081, + "ok": true, + "ended_time_ns": 1792831094695737710, + "duration_s": 2.629e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094695738173, + "ok": true, + "ended_time_ns": 1792831094695741266, + "duration_s": 3.093e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094695741599, + "ok": true, + "ended_time_ns": 1792831094695920266, + "duration_s": 0.000178667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094695921303, + "ok": true, + "ended_time_ns": 1792831094695925118, + "duration_s": 3.815e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094695925544, + "ok": true, + "ended_time_ns": 1792831094695928414, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094695928748, + "ok": true, + "ended_time_ns": 1792831094695930674, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "a45e343ec30d48dc9f5b4456c5c8efc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2283, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831110573270890, + "capture_count": 600, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831110584674714, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831110590054819 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831110248488435, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9729, + "displayed_count": 9492, + "dropped_count": 236, + "decode_error_count": 0, + "last_receive_time_ns": 1792831110157069510, + "last_frame_time_ns": 1792831110131540244, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831110573270890, + "capture_count": 600, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831110584674714, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831110590054819 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831110853774979, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831110853774485 + } + }, + "updated_time_ns": 1792831110853775964 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..45ad8782cd102ca3ce3bb2f7a4a82dd84735dc4d --- /dev/null +++ b/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831094719308254, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/left_hand/Metadata/pc_metadata.json" + 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+ "clamp_sample_count": 652, + "clamp_first_sample_time_ns": 1792831098911561621, + "clamp_last_sample_time_ns": 1792831109761581496, + "clamp_actual_hz": 59.99989009236723, + "clamp_value_min": 46.64105664868642, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 251, + "read_count": 3094, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2389 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..70d498bc2619fa6ef508111778f3ab3feda429cf --- /dev/null +++ b/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831094670883026, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163814_00022", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163814_00022/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + 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2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + 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null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094459154180, + "ok": true, + "ended_time_ns": 1792831094459162217, + "duration_s": 8.037e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094459163198, + "ok": true, + "ended_time_ns": 1792831094459165976, + "duration_s": 2.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094459166457, + "ok": true, + "ended_time_ns": 1792831094459169550, + "duration_s": 3.093e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094459169902, + "ok": true, + "ended_time_ns": 1792831094459349325, + "duration_s": 0.000179423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094459350714, + "ok": true, + "ended_time_ns": 1792831094459354529, + "duration_s": 3.815e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094459355159, + "ok": true, + "ended_time_ns": 1792831094459358473, + "duration_s": 3.314e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094459358899, + "ok": true, + "ended_time_ns": 1792831094459361362, + "duration_s": 2.463e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831094459996095, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831094397370982, + "frame_age_s": 0.062656446, + "heartbeat_age_s": 0.049477135, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094460032724, + "duration_s": 3.6629e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831094460034483, + "status_ok": true, + "gap_mm": 82.38963442597891, + "reference_angle_deg": 278.61328125, + "sample_observed_time_ns": 1792831094395406638, + "sample_age_s": 0.064634938, + "heartbeat_age_s": 0.04950432, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831094460045483, + "duration_s": 1.1e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831094460046446, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831094460048946, + "duration_s": 2.5e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831094460050002, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831094460160000, + "duration_s": 0.000109998 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 25, + "ready_token": "7dfc46337db648dab94ad4c4ae533c15", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163757_00021.ready.json", + "arm_request_id": "48826438735442fdbcbbd399e80fb9a7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3110, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094397370982, + "capture_count": 650, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 214, + "read_count": 2172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094395406638, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094410532793 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831093564058918, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9902, + "displayed_count": 7919, + "dropped_count": 1981, + "decode_error_count": 0, + "last_receive_time_ns": 1792831093521796393, + "last_frame_time_ns": 1792831093491051496, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094397370982, + "capture_count": 650, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 214, + "read_count": 2172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094395406638, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094410532793 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094691463828, + "ended_time_ns": 1792831094703190680, + "duration_s": 0.000234738, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094694058777, + "ok": true, + "ended_time_ns": 1792831094694067295, + "duration_s": 8.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094694069036, + "ok": true, + "ended_time_ns": 1792831094694072017, + "duration_s": 2.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094694072443, + "ok": true, + "ended_time_ns": 1792831094694075369, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094694075758, + "ok": true, + "ended_time_ns": 1792831094694276163, + "duration_s": 0.000200405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094694277737, + "ok": true, + "ended_time_ns": 1792831094694282385, + "duration_s": 4.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094694283218, + "ok": true, + "ended_time_ns": 1792831094694286292, + "duration_s": 3.074e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094694286718, + "ok": true, + "ended_time_ns": 1792831094694289329, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163814_00022", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "9db8c41cdb2e41289ad1d0f921991a0e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831094713269620, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "timing": { + "server_start_request_time_ns": 1792831094708452830, + "subprocess_popen_time_ns": 1792831094713269620, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094694055110, + "ended_time_ns": 1792831094694289848, + "duration_s": 0.000234738, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094694058777, + "ok": true, + "ended_time_ns": 1792831094694067295, + "duration_s": 8.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094694069036, + "ok": true, + "ended_time_ns": 1792831094694072017, + "duration_s": 2.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094694072443, + "ok": true, + "ended_time_ns": 1792831094694075369, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094694075758, + "ok": true, + "ended_time_ns": 1792831094694276163, + "duration_s": 0.000200405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094694277737, + "ok": true, + "ended_time_ns": 1792831094694282385, + "duration_s": 4.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094694283218, + "ok": true, + "ended_time_ns": 1792831094694286292, + "duration_s": 3.074e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094694286718, + "ok": true, + "ended_time_ns": 1792831094694289329, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "9db8c41cdb2e41289ad1d0f921991a0e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3111, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094397370982, + "capture_count": 650, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 214, + "read_count": 2172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094395406638, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094410532793 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831094656175491, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9911, + "displayed_count": 7927, + "dropped_count": 1983, + "decode_error_count": 0, + "last_receive_time_ns": 1792831094537422811, + "last_frame_time_ns": 1792831094601169057, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163757_00021", + "generation": 25, + "session_count": 25, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094397370982, + "capture_count": 650, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 214, + "read_count": 2172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094395406638, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094410532793 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831094706522162, + "ended_time_ns": 1792831094731448662 + }, + "pi_start_request_time_ns": 1792831094731455644, + "capture_start_time_ns": 1792831098895781713, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831108843852926, + "capture_stop_time_ns": 1792831109766491726, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163814_00022", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "9db8c41cdb2e41289ad1d0f921991a0e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831094713269620, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": 1792831098895781713, + "capture_stop_time_ns": 1792831109766491726, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "timing": { + "server_start_request_time_ns": 1792831094708452830, + "subprocess_popen_time_ns": 1792831094713269620, + 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"as5600_zero_start_time_ns": 1792831094725963288, + "as5600_zero_end_time_ns": 1792831095530959609, + "camera_init_start_time_ns": 1792831096193155248, + "camera_init_end_time_ns": 1792831096199435463, + "camera_start_start_time_ns": 1792831096201933152, + "camera_start_end_time_ns": 1792831096203846479, + "camera_first_frame_wait_start_time_ns": 1792831096205701474, + "camera_first_frame_wait_end_time_ns": 1792831096263938421, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831096265250330, + "armed_time_ns": 1792831096414087434, + "waiting_t0_time_ns": 1792831096416899230, + "recording_start_time_ns": 1792831098896804128, + "stop_request_time_ns": 1792831108842498139, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094694055110, + "ended_time_ns": 1792831094694289848, + "duration_s": 0.000234738, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094694058777, + "ok": true, + "ended_time_ns": 1792831094694067295, + "duration_s": 8.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094694069036, + "ok": true, + "ended_time_ns": 1792831094694072017, + "duration_s": 2.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094694072443, + "ok": true, + "ended_time_ns": 1792831094694075369, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094694075758, + "ok": true, + "ended_time_ns": 1792831094694276163, + "duration_s": 0.000200405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094694277737, + "ok": true, + "ended_time_ns": 1792831094694282385, + "duration_s": 4.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094694283218, + "ok": true, + "ended_time_ns": 1792831094694286292, + "duration_s": 3.074e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094694286718, + "ok": true, + "ended_time_ns": 1792831094694289329, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "9db8c41cdb2e41289ad1d0f921991a0e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3111, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 25, + "last_bootstrap_time_ns": 1792831090850625350, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831094698416127, + "capture_count": 662, + "capture_error_count": 0, + "writer_count": 402, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.61328125, + "gripper_gap_mm": 82.38963442597891, + "status_ok": true, + "queue_size": 600, + "queue_depth": 233, + "max_queue_depth": 233, + "read_count": 2191, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831094711563716, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831094715826420 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831108844268381, + "ended_time_ns": 1792831108856977009, + "capture_stop_time_ns": 1792831109766491726, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163814_00022", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "9db8c41cdb2e41289ad1d0f921991a0e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831110885287202, + "ended_time_ns": 1792831110899913503, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + 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"configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831094719750147, + "validate_start_time_ns": 1792831096415015755, + "session_dir_create_start_time_ns": 1792831094721578530, + "session_dir_create_end_time_ns": 1792831094722631387, + "as5600_init_start_time_ns": 1792831094723629170, + "as5600_init_end_time_ns": 1792831094724581121, + "as5600_zero_start_time_ns": 1792831094725963288, + "as5600_zero_end_time_ns": 1792831095530959609, + "camera_init_start_time_ns": 1792831096193155248, + "camera_init_end_time_ns": 1792831096199435463, + "camera_start_start_time_ns": 1792831096201933152, + "camera_start_end_time_ns": 1792831096203846479, + "camera_first_frame_wait_start_time_ns": 1792831096205701474, + "camera_first_frame_wait_end_time_ns": 1792831096263938421, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831096265250330, + "armed_time_ns": 1792831096414087434, + "waiting_t0_time_ns": 1792831096416899230, + "recording_start_time_ns": 1792831098896804128, + "stop_request_time_ns": 1792831108846948155, + "finalized_time_ns": 1792831109773639414 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094694055110, + "ended_time_ns": 1792831094694289848, + "duration_s": 0.000234738, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094694058777, + "ok": true, + "ended_time_ns": 1792831094694067295, + "duration_s": 8.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094694069036, + "ok": true, + "ended_time_ns": 1792831094694072017, + "duration_s": 2.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094694072443, + "ok": true, + "ended_time_ns": 1792831094694075369, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094694075758, + "ok": true, + "ended_time_ns": 1792831094694276163, + "duration_s": 0.000200405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094694277737, + "ok": true, + "ended_time_ns": 1792831094694282385, + "duration_s": 4.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094694283218, + "ok": true, + "ended_time_ns": 1792831094694286292, + "duration_s": 3.074e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094694286718, + "ok": true, + "ended_time_ns": 1792831094694289329, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "9db8c41cdb2e41289ad1d0f921991a0e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3111, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831110585893103, + "capture_count": 576, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831110580573987, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831110591156127 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831110546048787, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10046, + "displayed_count": 8016, + "dropped_count": 2029, + "decode_error_count": 0, + "last_receive_time_ns": 1792831110454272387, + "last_frame_time_ns": 1792831110491370201, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831110585893103, + "capture_count": 576, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831110580573987, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831110591156127 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792831110904383021 +} \ No newline at end of file diff --git a/opening and 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"ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + 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"+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "a45e343ec30d48dc9f5b4456c5c8efc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2283, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831113622117600, + "capture_count": 722, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 231, + "max_queue_depth": 231, + "read_count": 231, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113618006997, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831113628043966 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831113531646269, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9758, + "displayed_count": 9521, + "dropped_count": 236, + "decode_error_count": 0, + "last_receive_time_ns": 1792831113531058046, + "last_frame_time_ns": 1792831113531518510, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831113622117600, + "capture_count": 722, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 231, + "max_queue_depth": 231, + "read_count": 231, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113618006997, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831113628043966 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831113862784660, + "ended_time_ns": 1792831113874017730, + "duration_s": 0.001074151, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831113881368395, + "ended_time_ns": 1792831113881575451, + "duration_s": 0.000207056, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831113881371803, + "ok": true, + "ended_time_ns": 1792831113881379821, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831113881380747, + "ok": true, + "ended_time_ns": 1792831113881383747, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831113881384247, + "ok": true, + "ended_time_ns": 1792831113881387025, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831113881387377, + "ok": true, + "ended_time_ns": 1792831113881565026, + "duration_s": 0.000177649 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831113881566118, + "ok": true, + "ended_time_ns": 1792831113881569303, + "duration_s": 3.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831113881569840, + "ok": true, + "ended_time_ns": 1792831113881572637, + "duration_s": 2.797e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831113881573026, + "ok": true, + "ended_time_ns": 1792831113881575026, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831113882224323, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831113622117600, + "frame_age_s": 0.260133872, + "heartbeat_age_s": 0.254191061, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831113882255379, + "duration_s": 3.1056e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831113882257083, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 103.44726562499999, + "sample_observed_time_ns": 1792831113618006997, + "sample_age_s": 0.264256752, + "heartbeat_age_s": 0.254215876, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831113882267064, + "duration_s": 9.981e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831113882271416, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831113882366490, + "duration_s": 9.5074e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831113874038049, + "ended_time_ns": 1792831113972615258, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163814_00022", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "9db8c41cdb2e41289ad1d0f921991a0e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831113972632450, + "ended_time_ns": 1792831113986477551, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": 1792831098895781713, + "capture_stop_time_ns": 1792831109766491726, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/right_hand", + "timing": { + "server_start_request_time_ns": 1792831094708452830, + "subprocess_popen_time_ns": 1792831094713269620, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831094719750147, + "validate_start_time_ns": 1792831096415015755, + "session_dir_create_start_time_ns": 1792831094721578530, + "session_dir_create_end_time_ns": 1792831094722631387, + "as5600_init_start_time_ns": 1792831094723629170, + "as5600_init_end_time_ns": 1792831094724581121, + "as5600_zero_start_time_ns": 1792831094725963288, + "as5600_zero_end_time_ns": 1792831095530959609, + "camera_init_start_time_ns": 1792831096193155248, + "camera_init_end_time_ns": 1792831096199435463, + "camera_start_start_time_ns": 1792831096201933152, + "camera_start_end_time_ns": 1792831096203846479, + "camera_first_frame_wait_start_time_ns": 1792831096205701474, + "camera_first_frame_wait_end_time_ns": 1792831096263938421, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831096265250330, + "armed_time_ns": 1792831096414087434, + "waiting_t0_time_ns": 1792831096416899230, + "recording_start_time_ns": 1792831098896804128, + "stop_request_time_ns": 1792831108846948155, + "finalized_time_ns": 1792831109773639414 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831094694055110, + "ended_time_ns": 1792831094694289848, + "duration_s": 0.000234738, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831094694058777, + "ok": true, + "ended_time_ns": 1792831094694067295, + "duration_s": 8.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831094694069036, + "ok": true, + "ended_time_ns": 1792831094694072017, + "duration_s": 2.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831094694072443, + "ok": true, + "ended_time_ns": 1792831094694075369, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831094694075758, + "ok": true, + "ended_time_ns": 1792831094694276163, + "duration_s": 0.000200405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831094694277737, + "ok": true, + "ended_time_ns": 1792831094694282385, + "duration_s": 4.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831094694283218, + "ok": true, + "ended_time_ns": 1792831094694286292, + "duration_s": 3.074e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831094694286718, + "ok": true, + "ended_time_ns": 1792831094694289329, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "9db8c41cdb2e41289ad1d0f921991a0e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3111, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831113485566622, + "capture_count": 692, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 224, + "max_queue_depth": 224, + "read_count": 224, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113497244804, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831113500595149 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831113677602387, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10073, + "displayed_count": 8037, + "dropped_count": 2034, + "decode_error_count": 0, + "last_receive_time_ns": 1792831113572837229, + "last_frame_time_ns": 1792831113542927266, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831113485566622, + "capture_count": 692, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 224, + "max_queue_depth": 224, + "read_count": 224, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113497244804, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831113500595149 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831114009772477, + "ended_time_ns": 1792831114020149441, + "duration_s": 0.001106727, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114009095192, + "ended_time_ns": 1792831114009306522, + "duration_s": 0.00021133, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114009099062, + "ok": true, + "ended_time_ns": 1792831114009106581, + "duration_s": 7.519e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114009107840, + "ok": true, + "ended_time_ns": 1792831114009110395, + "duration_s": 2.555e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114009110840, + "ok": true, + "ended_time_ns": 1792831114009113581, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114009113914, + "ok": true, + "ended_time_ns": 1792831114009294745, + "duration_s": 0.000180831 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114009296134, + "ok": true, + "ended_time_ns": 1792831114009300115, + "duration_s": 3.981e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114009300671, + "ok": true, + "ended_time_ns": 1792831114009303782, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114009304097, + "ok": true, + "ended_time_ns": 1792831114009306041, + "duration_s": 1.944e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831114009902737, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831113984788304, + "frame_age_s": 0.025175173, + "heartbeat_age_s": 0.004896844, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831114009968681, + "duration_s": 6.5944e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831114009970755, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 275.44921875, + "sample_observed_time_ns": 1792831113997453065, + "sample_age_s": 0.012526764, + "heartbeat_age_s": 0.004927899, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831114009983884, + "duration_s": 1.3129e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831114009988828, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831114010117605, + "duration_s": 0.000128777 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831114020156704, + "ended_time_ns": 1792831114108626393, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831344868892365, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831339631115967, + "ended_time_ns": 1792831339648541394, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831339648724828, + "ended_time_ns": 1792831339703112394, + "transferred_bytes": 13716, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,716 bytes\nTotal transferred file size: 13,716 bytes\nLiteral data: 13,716 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,851\n\nsent 46 bytes received 13,851 bytes 27,794.00 bytes/sec\ntotal size is 13,716 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831339703324203, + "ended_time_ns": 1792831344867278695, + "transferred_bytes": 13322656, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,322,656 bytes\nTotal transferred file size: 13,322,656 bytes\nLiteral data: 13,322,656 bytes\nMatched data: 0 bytes\nFile list size: 226\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,326,316\n\nsent 168 bytes received 13,326,316 bytes 2,422,997.09 bytes/sec\ntotal size is 13,322,656 speedup is 1.00" + } + ], + "transferred_bytes": 13336372, + "copied_local_bytes": 13941994, + "started_time_ns": 1792831339630753085, + "ended_time_ns": 1792831344867814919 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831339631199637, + "ended_time_ns": 1792831339647147141, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831339647314651, + "ended_time_ns": 1792831339691087191, + "transferred_bytes": 13729, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,729 bytes\nTotal transferred file size: 13,729 bytes\nLiteral data: 13,729 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,865\n\nsent 46 bytes received 13,865 bytes 27,822.00 bytes/sec\ntotal size is 13,729 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831339691373562, + "ended_time_ns": 1792831340613843898, + "transferred_bytes": 16529703, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 16,529,703 bytes\nTotal transferred file size: 16,529,703 bytes\nLiteral data: 16,529,703 bytes\nMatched data: 0 bytes\nFile list size: 217\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 16,534,134\n\nsent 168 bytes received 16,534,134 bytes 11,022,868.00 bytes/sec\ntotal size is 16,529,703 speedup is 1.00" + } + ], + "transferred_bytes": 16543432, + "copied_local_bytes": 17133460, + "started_time_ns": 1792831339630931139, + "ended_time_ns": 1792831340614419664 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163834_00023", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832832729523751, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832832275479575, + "ended_time_ns": 1792832832729291722, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832275479575, + "ended_time_ns": 1792832832503614443, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163834_00023", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163834_00023 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163834_00023\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831117693996536\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831117693996536，vive_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831127326503243，vive_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007789s，first=1792831117701785329，T0=1792831117693996536，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004840s，last=1792831127321663641，Tstop=1792831127326503243，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1925\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00252992805216 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00252992805216 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1925，metadata 1925\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0025303421221 Hz，最低 150.0 Hz，时长 9.61987829208374 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0025303421221 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005208253860473633s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992716401..1.0000000006312795，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.011995635975623843m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.9688110608503713deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=385 duration=9.625s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=385，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 385，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=384，rows=385，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=385，monotonic违规=0，估算频率=40.032624624968705Hz，最大间隔=0.034825714s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 385，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0326252426417 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0326252426417 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034826936s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 578，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 12.6679..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 578，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997046171296 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997046171296 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020301772s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=578，bad_rows=0，monotonic违规=0，估算频率=59.999966187887345Hz，最大间隔=0.020302494s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 385，metadata 385\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 578，metadata 578\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 385，timestamps 385，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=385，timestamps=385，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.033s，video=9.625s，timestamps=9.592176323000004s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.024s，camera=9.592176323000004s，clamp=9.616671401000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831117693996536，pi_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831127326503243，pi_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.026859s，first=1792831117720855801，T0=1792831117693996536，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.007343s，first=1792831117701339420，T0=1792831117693996536，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013471s，last=1792831127313032124，Tstop=1792831127326503243，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008492s，last=1792831127318010821，Tstop=1792831127326503243，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.027702s，vive=9.619878312s，camera=9.592176323000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003207s，vive=9.619878312s，clamp=9.616671401000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.019070s，vive_first=1792831117701785329，camera_first=1792831117720855801，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000446s，vive_first=1792831117701785329，clamp_first=1792831117701339420，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.008632s，vive_last=1792831127321663641，camera_last=1792831127313032124，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003653s，vive_last=1792831127321663641，clamp_last=1792831127318010821，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832504069606, + "ended_time_ns": 1792832832729291722, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163834_00023", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163834_00023 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163834_00023\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831117693996536\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831117693996536，vive_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831127326503243，vive_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007789s，first=1792831117701785329，T0=1792831117693996536，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004840s，last=1792831127321663641，Tstop=1792831127326503243，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1925\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00252992805216 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00252992805216 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1925，metadata 1925\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0025303421221 Hz，最低 150.0 Hz，时长 9.61987829208374 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0025303421221 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005208253860473633s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994213352..1.0000000005862548，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.03302022556222336m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.548686060547718deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=385 duration=9.625s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=385，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 385，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=384，rows=385，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=385，monotonic违规=0，估算频率=40.05032028206711Hz，最大间隔=0.033276753s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 385，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.050318811708 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.050318811708 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033277068s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 578，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 47.0249..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 578，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99883546731674 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99883546731674 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018485816s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=578，bad_rows=0，monotonic违规=0，估算频率=59.9988328032955Hz，最大间隔=0.018486371s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 385，metadata 385\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 578，metadata 578\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 385，timestamps 385，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=385，timestamps=385，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.037s，video=9.625s，timestamps=9.587938658000006s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.029s，camera=9.587938658000006s，clamp=9.616853319000002s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831117693996536，pi_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831127326503243，pi_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019685s，first=1792831117713681699，T0=1792831117693996536，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003241s，first=1792831117697237932，T0=1792831117693996536，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.024883s，last=1792831127301620357，Tstop=1792831127326503243，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012412s，last=1792831127314091251，Tstop=1792831127326503243，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.031940s，vive=9.619878312s，camera=9.587938658000006s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003025s，vive=9.619878312s，clamp=9.616853319000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.011896s，vive_first=1792831117701785329，camera_first=1792831117713681699，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.004547s，vive_first=1792831117701785329，clamp_first=1792831117697237932，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020043s，vive_last=1792831127321663641，camera_last=1792831127301620357，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.007572s，vive_last=1792831127321663641，clamp_last=1792831127314091251，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163834_00023\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831117693996536\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831117693996536，vive_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831127326503243，vive_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007789s，first=1792831117701785329，T0=1792831117693996536，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004840s，last=1792831127321663641，Tstop=1792831127326503243，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1925\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00252992805216 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00252992805216 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1925，metadata 1925\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0025303421221 Hz，最低 150.0 Hz，时长 9.61987829208374 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0025303421221 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005208253860473633s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992716401..1.0000000006312795，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.011995635975623843m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.9688110608503713deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=385 duration=9.625s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=385，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 385，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=384，rows=385，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=385，monotonic违规=0，估算频率=40.032624624968705Hz，最大间隔=0.034825714s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 385，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0326252426417 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0326252426417 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034826936s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 578，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 12.6679..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 578，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997046171296 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997046171296 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020301772s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=578，bad_rows=0，monotonic违规=0，估算频率=59.999966187887345Hz，最大间隔=0.020302494s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 385，metadata 385\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 578，metadata 578\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 385，timestamps 385，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=385，timestamps=385，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.033s，video=9.625s，timestamps=9.592176323000004s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.024s，camera=9.592176323000004s，clamp=9.616671401000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831117693996536，pi_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831127326503243，pi_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.026859s，first=1792831117720855801，T0=1792831117693996536，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.007343s，first=1792831117701339420，T0=1792831117693996536，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013471s，last=1792831127313032124，Tstop=1792831127326503243，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008492s，last=1792831127318010821，Tstop=1792831127326503243，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.027702s，vive=9.619878312s，camera=9.592176323000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003207s，vive=9.619878312s，clamp=9.616671401000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.019070s，vive_first=1792831117701785329，camera_first=1792831117720855801，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000446s，vive_first=1792831117701785329，clamp_first=1792831117701339420，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.008632s，vive_last=1792831127321663641，camera_last=1792831127313032124，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003653s，vive_last=1792831127321663641，clamp_last=1792831127318010821，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163834_00023\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831117693996536\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831117693996536，vive_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831127326503243，vive_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007789s，first=1792831117701785329，T0=1792831117693996536，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004840s，last=1792831127321663641，Tstop=1792831127326503243，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1925\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00252992805216 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00252992805216 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1925，metadata 1925\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0025303421221 Hz，最低 150.0 Hz，时长 9.61987829208374 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0025303421221 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005208253860473633s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994213352..1.0000000005862548，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.03302022556222336m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.548686060547718deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=385 duration=9.625s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=385，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 385，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=384，rows=385，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=385，monotonic违规=0，估算频率=40.05032028206711Hz，最大间隔=0.033276753s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 385，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.050318811708 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.050318811708 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033277068s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 578，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 47.0249..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 578，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99883546731674 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99883546731674 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018485816s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=578，bad_rows=0，monotonic违规=0，估算频率=59.9988328032955Hz，最大间隔=0.018486371s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 385，metadata 385\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 578，metadata 578\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 385，timestamps 385，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=385，timestamps=385，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.037s，video=9.625s，timestamps=9.587938658000006s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.029s，camera=9.587938658000006s，clamp=9.616853319000002s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831117693996536，pi_T0=1792831117693996536，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831127326503243，pi_Tstop=1792831127326503243，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019685s，first=1792831117713681699，T0=1792831117693996536，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003241s，first=1792831117697237932，T0=1792831117693996536，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.024883s，last=1792831127301620357，Tstop=1792831127326503243，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012412s，last=1792831127314091251，Tstop=1792831127326503243，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.031940s，vive=9.619878312s，camera=9.587938658000006s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003025s，vive=9.619878312s，clamp=9.616853319000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.011896s，vive_first=1792831117701785329，camera_first=1792831117713681699，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.004547s，vive_first=1792831117701785329，clamp_first=1792831117697237932，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020043s，vive_last=1792831127321663641，camera_last=1792831127301620357，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.007572s，vive_last=1792831127321663641，clamp_last=1792831127314091251，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163834_00023_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812814418363 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163834_00023/control/stop_left_hand.flag b/opening and closing/session_20261024_163834_00023/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..b05bd6ecb61a1d06f22d127c473aca7a10942e64 --- /dev/null +++ b/opening and closing/session_20261024_163834_00023/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831127326503243 \ No newline at end of file diff --git a/opening and closing/session_20261024_163834_00023/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163834_00023/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..96497da4704b22b916eb3ee32e2f377342fd0dfe --- /dev/null +++ b/opening 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1792831117696795484, + "stop_request_time_ns": 1792831126536813333, + "finalized_time_ns": 1792831127333472544 + }, + "last_error": null, + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "effective_capture_stop_time_ns": 1792831127326503243, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_163834_00023", + "control_generation": 27, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 103.44726562499999, + "reference_source": "max_open_init", + "zero_angle_deg": 103.44726562499999, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 8.759e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831117696765317, + "camera_frame_count": 385, + "camera_started_time_ns": 1792831115062180908, + "camera_stopped_time_ns": 1792831127332121763, + "camera_actual_fps": 31.37749436201337, + "camera_first_frame_time_ns": 1792831117720855801, + "camera_last_frame_time_ns": 1792831127313032124, + "camera_frame_timestamp_fps": 40.032625242641714, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831127313032124, + "capture_count": 491, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 578, + "clamp_first_sample_time_ns": 1792831117701339420, + "clamp_last_sample_time_ns": 1792831127318010821, + "clamp_actual_hz": 59.999970461712984, + "clamp_value_min": 12.667916457382447, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 268, + "read_count": 1053, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2181 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f987ccc89f6701b3d7c5ccd311b38a586f395437 --- /dev/null +++ b/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831114165748526, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163834_00023", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 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8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163814_00022", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "a45e343ec30d48dc9f5b4456c5c8efc7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831114166346168, + "ended_time_ns": 1792831114184887409, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "capture_start_time_ns": 1792831098895781713, + "capture_stop_time_ns": 1792831109766491726, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022/left_hand", + "timing": { + "server_start_request_time_ns": 1792831094710864914, + "subprocess_popen_time_ns": 1792831094715774537, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831094771616209, + "validate_start_time_ns": 1792831096430796493, + "session_dir_create_start_time_ns": 1792831094772674230, + "session_dir_create_end_time_ns": 1792831094773654307, + "as5600_init_start_time_ns": 1792831094774684902, + "as5600_init_end_time_ns": 1792831094775587885, + "as5600_zero_start_time_ns": 1792831094776934722, + "as5600_zero_end_time_ns": 1792831095585271275, + "camera_init_start_time_ns": 1792831095586736297, + "camera_init_end_time_ns": 1792831095588628376, + "camera_start_start_time_ns": 1792831095589492860, + "camera_start_end_time_ns": 1792831095590823289, + "camera_first_frame_wait_start_time_ns": 1792831095592179199, + "camera_first_frame_wait_end_time_ns": 1792831095593493462, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831095594690668, + "armed_time_ns": 1792831096429357397, + "waiting_t0_time_ns": 1792831096436123302, + "recording_start_time_ns": 1792831098901049522, + "stop_request_time_ns": 1792831108967834792, + "finalized_time_ns": 1792831109771097759 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831113881293543, + "ended_time_ns": 1792831113882367694, + "duration_s": 0.001074151, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831113881368395, + "ended_time_ns": 1792831113881575451, + "duration_s": 0.000207056, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831113881371803, + "ok": true, + "ended_time_ns": 1792831113881379821, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831113881380747, + "ok": true, + "ended_time_ns": 1792831113881383747, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831113881384247, + "ok": true, + "ended_time_ns": 1792831113881387025, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831113881387377, + "ok": true, + "ended_time_ns": 1792831113881565026, + "duration_s": 0.000177649 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831113881566118, + "ok": true, + "ended_time_ns": 1792831113881569303, + "duration_s": 3.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831113881569840, + "ok": true, + "ended_time_ns": 1792831113881572637, + "duration_s": 2.797e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831113881573026, + "ok": true, + "ended_time_ns": 1792831113881575026, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831113882224323, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831113622117600, + "frame_age_s": 0.260133872, + "heartbeat_age_s": 0.254191061, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831113882255379, + "duration_s": 3.1056e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831113882257083, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 103.44726562499999, + "sample_observed_time_ns": 1792831113618006997, + "sample_age_s": 0.264256752, + "heartbeat_age_s": 0.254215876, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831113882267064, + "duration_s": 9.981e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831113882268138, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831113882270416, + "duration_s": 2.278e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831113882271416, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831113882366490, + "duration_s": 9.5074e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "a45e343ec30d48dc9f5b4456c5c8efc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2283, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831114122626944, + "capture_count": 742, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 261, + "max_queue_depth": 261, + "read_count": 261, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831114118020266, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114132887413 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831113531646269, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9758, + "displayed_count": 9521, + "dropped_count": 236, + "decode_error_count": 0, + "last_receive_time_ns": 1792831113531058046, + "last_frame_time_ns": 1792831113531518510, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831114122626944, + "capture_count": 742, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 261, + "max_queue_depth": 261, + "read_count": 261, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831114118020266, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114132887413 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114187977273, + "ended_time_ns": 1792831114197919745, + "duration_s": 0.000221297, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114207112852, + "ok": true, + "ended_time_ns": 1792831114207121167, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114207123389, + "ok": true, + "ended_time_ns": 1792831114207126297, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114207126778, + "ok": true, + "ended_time_ns": 1792831114207129500, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114207129871, + "ok": true, + "ended_time_ns": 1792831114207319797, + "duration_s": 0.000189926 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114207320797, + "ok": true, + "ended_time_ns": 1792831114207324001, + "duration_s": 3.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114207324519, + "ok": true, + "ended_time_ns": 1792831114207327427, + "duration_s": 2.908e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114207327779, + "ok": true, + "ended_time_ns": 1792831114207329705, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163834_00023", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "73804cc65d4d4964bfabfeb1752aa4b7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831114224541080, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "timing": { + "server_start_request_time_ns": 1792831114219635549, + "subprocess_popen_time_ns": 1792831114224541080, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114207108815, + "ended_time_ns": 1792831114207330112, + "duration_s": 0.000221297, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114207112852, + "ok": true, + "ended_time_ns": 1792831114207121167, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114207123389, + "ok": true, + "ended_time_ns": 1792831114207126297, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114207126778, + "ok": true, + "ended_time_ns": 1792831114207129500, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114207129871, + "ok": true, + "ended_time_ns": 1792831114207319797, + "duration_s": 0.000189926 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114207320797, + "ok": true, + "ended_time_ns": 1792831114207324001, + "duration_s": 3.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114207324519, + "ok": true, + "ended_time_ns": 1792831114207327427, + "duration_s": 2.908e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114207327779, + "ok": true, + "ended_time_ns": 1792831114207329705, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "73804cc65d4d4964bfabfeb1752aa4b7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2284, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831114122626944, + "capture_count": 742, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 261, + "max_queue_depth": 261, + "read_count": 261, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831114118020266, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114132887413 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831113531646269, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9758, + "displayed_count": 9521, + "dropped_count": 236, + "decode_error_count": 0, + "last_receive_time_ns": 1792831113531058046, + "last_frame_time_ns": 1792831113531518510, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831114122626944, + "capture_count": 742, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 261, + "max_queue_depth": 261, + "read_count": 261, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831114118020266, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114132887413 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831114201896936, + "ended_time_ns": 1792831114222102852 + }, + "pi_start_request_time_ns": 1792831114222109029, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831114225613842, + "capture_start_time_ns": 1792831117693996536, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831126515187229, + "capture_stop_time_ns": 1792831127326503243, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163834_00023", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "73804cc65d4d4964bfabfeb1752aa4b7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831114224541080, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "timing": { + "server_start_request_time_ns": 1792831114219635549, + "subprocess_popen_time_ns": 1792831114224541080, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831114243731811, + "validate_start_time_ns": 1792831115239058837, + "session_dir_create_start_time_ns": 1792831114244879018, + "session_dir_create_end_time_ns": 1792831114246693504, + "as5600_init_start_time_ns": 1792831114249115621, + "as5600_init_end_time_ns": 1792831114250712328, + "as5600_zero_start_time_ns": 1792831114253888669, + "as5600_zero_end_time_ns": 1792831115059079622, + "camera_init_start_time_ns": 1792831115060394792, + "camera_init_end_time_ns": 1792831115062185649, + "camera_start_start_time_ns": 1792831115063010021, + "camera_start_end_time_ns": 1792831115064293098, + "camera_first_frame_wait_start_time_ns": 1792831115065605120, + "camera_first_frame_wait_end_time_ns": 1792831115066889512, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115068596831, + "armed_time_ns": 1792831115238049501, + "waiting_t0_time_ns": 1792831115240456396, + "recording_start_time_ns": 1792831117696795484, + "stop_request_time_ns": 1792831126531934303, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114207108815, + "ended_time_ns": 1792831114207330112, + "duration_s": 0.000221297, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114207112852, + "ok": true, + "ended_time_ns": 1792831114207121167, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114207123389, + "ok": true, + "ended_time_ns": 1792831114207126297, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114207126778, + "ok": true, + "ended_time_ns": 1792831114207129500, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114207129871, + "ok": true, + "ended_time_ns": 1792831114207319797, + "duration_s": 0.000189926 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114207320797, + "ok": true, + "ended_time_ns": 1792831114207324001, + "duration_s": 3.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114207324519, + "ok": true, + "ended_time_ns": 1792831114207327427, + "duration_s": 2.908e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114207327779, + "ok": true, + "ended_time_ns": 1792831114207329705, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "73804cc65d4d4964bfabfeb1752aa4b7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2284, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110586638070, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831114222618390, + "capture_count": 746, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 268, + "max_queue_depth": 268, + "read_count": 268, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831114234715993, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114239594561 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831126515688545, + "ended_time_ns": 1792831126526976049, + "capture_stop_time_ns": 1792831127326503243, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163834_00023", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 208963 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 209726 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141740 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 210659 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 209825 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129742 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163834_00023", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "73804cc65d4d4964bfabfeb1752aa4b7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831127331599138, + "ended_time_ns": 1792831127342569012, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "timing": { + "server_start_request_time_ns": 1792831114219635549, + "subprocess_popen_time_ns": 1792831114224541080, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831114243731811, + "validate_start_time_ns": 1792831115239058837, + "session_dir_create_start_time_ns": 1792831114244879018, + "session_dir_create_end_time_ns": 1792831114246693504, + "as5600_init_start_time_ns": 1792831114249115621, + "as5600_init_end_time_ns": 1792831114250712328, + "as5600_zero_start_time_ns": 1792831114253888669, + "as5600_zero_end_time_ns": 1792831115059079622, + "camera_init_start_time_ns": 1792831115060394792, + "camera_init_end_time_ns": 1792831115062185649, + "camera_start_start_time_ns": 1792831115063010021, + "camera_start_end_time_ns": 1792831115064293098, + "camera_first_frame_wait_start_time_ns": 1792831115065605120, + "camera_first_frame_wait_end_time_ns": 1792831115066889512, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115068596831, + "armed_time_ns": 1792831115238049501, + "waiting_t0_time_ns": 1792831115240456396, + "recording_start_time_ns": 1792831117696795484, + "stop_request_time_ns": 1792831126536813333, + "finalized_time_ns": 1792831127333472544 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114207108815, + "ended_time_ns": 1792831114207330112, + "duration_s": 0.000221297, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114207112852, + "ok": true, + "ended_time_ns": 1792831114207121167, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114207123389, + "ok": true, + "ended_time_ns": 1792831114207126297, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114207126778, + "ok": true, + "ended_time_ns": 1792831114207129500, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114207129871, + "ok": true, + "ended_time_ns": 1792831114207319797, + "duration_s": 0.000189926 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114207320797, + "ok": true, + "ended_time_ns": 1792831114207324001, + "duration_s": 3.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114207324519, + "ok": true, + "ended_time_ns": 1792831114207327427, + "duration_s": 2.908e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114207327779, + "ok": true, + "ended_time_ns": 1792831114207329705, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "73804cc65d4d4964bfabfeb1752aa4b7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2284, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831127340238375, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 268, + "read_count": 1054, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831127335234492, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831127341393230 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831127321075402, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9876, + "displayed_count": 9631, + "dropped_count": 244, + "decode_error_count": 0, + "last_receive_time_ns": 1792831127239066629, + "last_frame_time_ns": 1792831127320792902, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831127340238375, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 268, + "read_count": 1054, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831127335234492, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831127341393230 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 1 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831127370309006, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831127370308397 + } + }, + "updated_time_ns": 1792831127370310637 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ed8a49eafc831a41c0227f156a5827176f2198 --- /dev/null +++ b/opening and closing/session_20261024_163834_00023/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831114228336537, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and 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6.13e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831117699116759, + "camera_frame_count": 385, + "camera_started_time_ns": 1792831115089220809, + "camera_stopped_time_ns": 1792831127333344297, + "camera_actual_fps": 31.443655430078262, + "camera_first_frame_time_ns": 1792831117713681699, + "camera_last_frame_time_ns": 1792831127301620357, + "camera_frame_timestamp_fps": 40.050318811708024, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831127333068838, + "capture_count": 490, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 578, + "clamp_first_sample_time_ns": 1792831117697237932, + "clamp_last_sample_time_ns": 1792831127314091251, + "clamp_actual_hz": 59.998835467316745, + "clamp_value_min": 47.02493393898364, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 270, + "read_count": 1054, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2198 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e95ae001710119b26aa92465e28a8df84ec17f9c --- /dev/null +++ b/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831114166294368, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163834_00023", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163814_00022", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163814_00022", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163814_00022", + "--control-generation", + "26", + "--ready-token", + "9db8c41cdb2e41289ad1d0f921991a0e", + 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275.44921875, + "sample_observed_time_ns": 1792831113997453065, + "sample_age_s": 0.012526764, + "heartbeat_age_s": 0.004927899, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831114009983884, + "duration_s": 1.3129e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831114009984995, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831114009987717, + "duration_s": 2.722e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831114009988828, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831114010117605, + "duration_s": 0.000128777 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 26, + "ready_token": "9db8c41cdb2e41289ad1d0f921991a0e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163814_00022.ready.json", + "arm_request_id": "7872822abb5b40b8b10196654febcf88", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3111, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831113984788304, + "capture_count": 712, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 254, + "max_queue_depth": 254, + "read_count": 254, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113997453065, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114005046578 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831113677602387, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10073, + "displayed_count": 8037, + "dropped_count": 2034, + "decode_error_count": 0, + "last_receive_time_ns": 1792831113572837229, + "last_frame_time_ns": 1792831113542927266, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831113984788304, + "capture_count": 712, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 254, + "max_queue_depth": 254, + "read_count": 254, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113997453065, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114005046578 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": 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"rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "c0600574c88c4e8a8ff63b231cc4a23f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3112, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831113984788304, + "capture_count": 712, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 254, + "max_queue_depth": 254, + "read_count": 254, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113997453065, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114005046578 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831113677602387, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10073, + "displayed_count": 8037, + "dropped_count": 2034, + "decode_error_count": 0, + "last_receive_time_ns": 1792831113572837229, + "last_frame_time_ns": 1792831113542927266, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163814_00022", + "generation": 26, + "session_count": 26, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831113984788304, + "capture_count": 712, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 254, + "max_queue_depth": 254, + "read_count": 254, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831113997453065, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114005046578 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831114201481841, + "ended_time_ns": 1792831114226578930 + }, + "pi_start_request_time_ns": 1792831114226587052, + "capture_start_time_ns": 1792831117693996536, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831126465216308, + "capture_stop_time_ns": 1792831127326503243, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163834_00023", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "c0600574c88c4e8a8ff63b231cc4a23f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831114204628726, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "timing": { + "server_start_request_time_ns": 1792831114200171173, + "subprocess_popen_time_ns": 1792831114204628726, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831114272574306, + "validate_start_time_ns": 1792831115210439587, + "session_dir_create_start_time_ns": 1792831114273537794, + "session_dir_create_end_time_ns": 1792831114274505133, + "as5600_init_start_time_ns": 1792831114275802764, + "as5600_init_end_time_ns": 1792831114276864658, + "as5600_zero_start_time_ns": 1792831114278513859, + "as5600_zero_end_time_ns": 1792831115083684992, + "camera_init_start_time_ns": 1792831115086817896, + "camera_init_end_time_ns": 1792831115089225198, + "camera_start_start_time_ns": 1792831115090351295, + "camera_start_end_time_ns": 1792831115091970088, + "camera_first_frame_wait_start_time_ns": 1792831115093628419, + "camera_first_frame_wait_end_time_ns": 1792831115095247064, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115096726434, + "armed_time_ns": 1792831115209463266, + "waiting_t0_time_ns": 1792831115212165120, + "recording_start_time_ns": 1792831117699125370, + "stop_request_time_ns": 1792831126464928300, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114189490145, + "ended_time_ns": 1792831114189708198, + "duration_s": 0.000218053, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114189494145, + "ok": true, + "ended_time_ns": 1792831114189502256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114189503737, + "ok": true, + "ended_time_ns": 1792831114189506645, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114189507089, + "ok": true, + "ended_time_ns": 1792831114189510052, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114189510367, + "ok": true, + "ended_time_ns": 1792831114189696772, + "duration_s": 0.000186405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114189698087, + "ok": true, + "ended_time_ns": 1792831114189701975, + "duration_s": 3.888e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114189702531, + "ok": true, + "ended_time_ns": 1792831114189705142, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114189705512, + "ok": true, + "ended_time_ns": 1792831114189707698, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "c0600574c88c4e8a8ff63b231cc4a23f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3112, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 26, + "last_bootstrap_time_ns": 1792831110587757116, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831114209653920, + "capture_count": 721, + "capture_error_count": 0, + "writer_count": 435, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 266, + "max_queue_depth": 266, + "read_count": 266, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831114197244989, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831114211015662 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831126465784764, + "ended_time_ns": 1792831126477326484, + "capture_stop_time_ns": 1792831127326503243, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163834_00023", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "c0600574c88c4e8a8ff63b231cc4a23f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831127494582764, + "ended_time_ns": 1792831127506780935, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "timing": { + "server_start_request_time_ns": 1792831114200171173, + "subprocess_popen_time_ns": 1792831114204628726, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831114272574306, + "validate_start_time_ns": 1792831115210439587, + "session_dir_create_start_time_ns": 1792831114273537794, + "session_dir_create_end_time_ns": 1792831114274505133, + "as5600_init_start_time_ns": 1792831114275802764, + "as5600_init_end_time_ns": 1792831114276864658, + "as5600_zero_start_time_ns": 1792831114278513859, + "as5600_zero_end_time_ns": 1792831115083684992, + "camera_init_start_time_ns": 1792831115086817896, + "camera_init_end_time_ns": 1792831115089225198, + "camera_start_start_time_ns": 1792831115090351295, + "camera_start_end_time_ns": 1792831115091970088, + "camera_first_frame_wait_start_time_ns": 1792831115093628419, + "camera_first_frame_wait_end_time_ns": 1792831115095247064, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115096726434, + "armed_time_ns": 1792831115209463266, + "waiting_t0_time_ns": 1792831115212165120, + "recording_start_time_ns": 1792831117699125370, + "stop_request_time_ns": 1792831126467899095, + "finalized_time_ns": 1792831127335131885 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114189490145, + "ended_time_ns": 1792831114189708198, + "duration_s": 0.000218053, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114189494145, + "ok": true, + "ended_time_ns": 1792831114189502256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114189503737, + "ok": true, + "ended_time_ns": 1792831114189506645, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114189507089, + "ok": true, + "ended_time_ns": 1792831114189510052, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114189510367, + "ok": true, + "ended_time_ns": 1792831114189696772, + "duration_s": 0.000186405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114189698087, + "ok": true, + "ended_time_ns": 1792831114189701975, + "duration_s": 3.888e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114189702531, + "ok": true, + "ended_time_ns": 1792831114189705142, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114189705512, + "ok": true, + "ended_time_ns": 1792831114189707698, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "c0600574c88c4e8a8ff63b231cc4a23f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3112, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831127333068838, + "capture_count": 490, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 270, + "read_count": 1054, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831127330602629, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831127340924810 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831126618856930, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10187, + "displayed_count": 8110, + "dropped_count": 2075, + "decode_error_count": 0, + "last_receive_time_ns": 1792831126613729626, + "last_frame_time_ns": 1792831126576515221, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831127333068838, + "capture_count": 490, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 270, + "read_count": 1054, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831127330602629, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831127340924810 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792831127509834199 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..eb1c1ed3d301944f623717f2df98dad09496b4e4 --- /dev/null +++ b/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831114228353665, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "effective_capture_stop_time_ns": 1792831127326503243, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163834_00023/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.13301001489162445, + "y0": -0.737747848033905, + "z0": -0.998536229133606, + "qx0": 0.13751449606888105, + 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"session_20261024_163849_00024", "data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", "mode": "dual", "broker_pid": 2731270, "session_count": 260, "returncode": 0, "artifacts": {"left_hand": {"merged_trajectory.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/merged_trajectory.txt", "exists": true, "size_bytes": 214970}, "raw_vive_pose.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/raw_vive_pose.txt", "exists": true, "size_bytes": 217162}, "merged_trajectory.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and 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"/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory/merged_trajectory.txt.part", "exists": false, "size_bytes": 0}, "raw_vive_pose.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", "exists": false, "size_bytes": 0}}}} diff --git a/opening and closing/session_20261024_163849_00024/Metadata/ui_backend_metadata.json b/opening and closing/session_20261024_163849_00024/Metadata/ui_backend_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4dbd9696cb9d48f89cd6c54d904445720dbca11e --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/Metadata/ui_backend_metadata.json @@ -0,0 +1,3619 @@ +{ + "project": "Tele-UMI", + "role": "ui_backend_joint_capture", + "session_id": "session_20261024_163849_00024", + "created_time_ns": 1792831129621170804, + "updated_time_ns": 1792832832263449968, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_names": [ + "left_hand", + "right_hand" + ], + "device_targets": { + "left_hand": { + "hand_name": "left_hand", + "pi_host": "192.168.31.140", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "requested_tracker_serial": "LHR-26B06EF4", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163834_00023", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "73804cc65d4d4964bfabfeb1752aa4b7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831128846420034, + "ended_time_ns": 1792831128861931853, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/left_hand", + "timing": { + "server_start_request_time_ns": 1792831114219635549, + "subprocess_popen_time_ns": 1792831114224541080, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831114243731811, + "validate_start_time_ns": 1792831115239058837, + "session_dir_create_start_time_ns": 1792831114244879018, + "session_dir_create_end_time_ns": 1792831114246693504, + "as5600_init_start_time_ns": 1792831114249115621, + "as5600_init_end_time_ns": 1792831114250712328, + "as5600_zero_start_time_ns": 1792831114253888669, + "as5600_zero_end_time_ns": 1792831115059079622, + "camera_init_start_time_ns": 1792831115060394792, + "camera_init_end_time_ns": 1792831115062185649, + "camera_start_start_time_ns": 1792831115063010021, + "camera_start_end_time_ns": 1792831115064293098, + "camera_first_frame_wait_start_time_ns": 1792831115065605120, + "camera_first_frame_wait_end_time_ns": 1792831115066889512, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115068596831, + "armed_time_ns": 1792831115238049501, + "waiting_t0_time_ns": 1792831115240456396, + "recording_start_time_ns": 1792831117696795484, + "stop_request_time_ns": 1792831126536813333, + "finalized_time_ns": 1792831127333472544 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114207108815, + "ended_time_ns": 1792831114207330112, + "duration_s": 0.000221297, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114207112852, + "ok": true, + "ended_time_ns": 1792831114207121167, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114207123389, + "ok": true, + "ended_time_ns": 1792831114207126297, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114207126778, + "ok": true, + "ended_time_ns": 1792831114207129500, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114207129871, + "ok": true, + "ended_time_ns": 1792831114207319797, + "duration_s": 0.000189926 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114207320797, + "ok": true, + "ended_time_ns": 1792831114207324001, + "duration_s": 3.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114207324519, + "ok": true, + "ended_time_ns": 1792831114207327427, + "duration_s": 2.908e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114207327779, + "ok": true, + "ended_time_ns": 1792831114207329705, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "73804cc65d4d4964bfabfeb1752aa4b7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2284, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831128837920637, + "capture_count": 552, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 92, + "max_queue_depth": 268, + "read_count": 1145, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831128851338337, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831128858137705 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831128351094031, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9886, + "displayed_count": 9641, + "dropped_count": 244, + "decode_error_count": 0, + "last_receive_time_ns": 1792831128345949925, + "last_frame_time_ns": 1792831128349256489, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831128837920637, + "capture_count": 552, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 92, + "max_queue_depth": 268, + "read_count": 1145, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831128851338337, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831128858137705 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831128895709676, + "ended_time_ns": 1792831128905517225, + "duration_s": 0.002021801, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831128913241061, + "ended_time_ns": 1792831128913486247, + "duration_s": 0.000245186, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831128913244635, + "ok": true, + "ended_time_ns": 1792831128913253450, + "duration_s": 8.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831128913254653, + "ok": true, + "ended_time_ns": 1792831128913257468, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831128913257876, + "ok": true, + "ended_time_ns": 1792831128913260839, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831128913261172, + "ok": true, + "ended_time_ns": 1792831128913471524, + "duration_s": 0.000210352 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831128913473691, + "ok": true, + "ended_time_ns": 1792831128913479487, + "duration_s": 5.796e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831128913479987, + "ok": true, + "ended_time_ns": 1792831128913483006, + "duration_s": 3.019e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831128913483358, + "ok": true, + "ended_time_ns": 1792831128913485876, + "duration_s": 2.518e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831128914760509, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831128837920637, + "frame_age_s": 0.076876594, + "heartbeat_age_s": 0.056638322, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831128914802602, + "duration_s": 4.2093e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831128914804879, + "status_ok": true, + "gap_mm": 82.06333872922627, + "reference_angle_deg": 103.44726562499999, + "sample_observed_time_ns": 1792831128851338337, + "sample_age_s": 0.063475283, + "heartbeat_age_s": 0.056670045, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831128914817620, + "duration_s": 1.2741e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831128914822879, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831128915004972, + "duration_s": 0.000182093 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831128905538389, + "ended_time_ns": 1792831129004863463, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163834_00023", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "c0600574c88c4e8a8ff63b231cc4a23f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831129004877219, + "ended_time_ns": 1792831129017575811, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "timing": { + "server_start_request_time_ns": 1792831114200171173, + "subprocess_popen_time_ns": 1792831114204628726, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831114272574306, + "validate_start_time_ns": 1792831115210439587, + "session_dir_create_start_time_ns": 1792831114273537794, + "session_dir_create_end_time_ns": 1792831114274505133, + "as5600_init_start_time_ns": 1792831114275802764, + "as5600_init_end_time_ns": 1792831114276864658, + "as5600_zero_start_time_ns": 1792831114278513859, + "as5600_zero_end_time_ns": 1792831115083684992, + "camera_init_start_time_ns": 1792831115086817896, + "camera_init_end_time_ns": 1792831115089225198, + "camera_start_start_time_ns": 1792831115090351295, + "camera_start_end_time_ns": 1792831115091970088, + "camera_first_frame_wait_start_time_ns": 1792831115093628419, + "camera_first_frame_wait_end_time_ns": 1792831115095247064, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115096726434, + "armed_time_ns": 1792831115209463266, + "waiting_t0_time_ns": 1792831115212165120, + "recording_start_time_ns": 1792831117699125370, + "stop_request_time_ns": 1792831126467899095, + "finalized_time_ns": 1792831127335131885 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831114189490145, + "ended_time_ns": 1792831114189708198, + "duration_s": 0.000218053, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831114189494145, + "ok": true, + "ended_time_ns": 1792831114189502256, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831114189503737, + "ok": true, + "ended_time_ns": 1792831114189506645, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831114189507089, + "ok": true, + "ended_time_ns": 1792831114189510052, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831114189510367, + "ok": true, + "ended_time_ns": 1792831114189696772, + "duration_s": 0.000186405 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831114189698087, + "ok": true, + "ended_time_ns": 1792831114189701975, + "duration_s": 3.888e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831114189702531, + "ok": true, + "ended_time_ns": 1792831114189705142, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831114189705512, + "ok": true, + "ended_time_ns": 1792831114189707698, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "c0600574c88c4e8a8ff63b231cc4a23f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3112, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831127824715173, + "capture_count": 510, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.71593012273154, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 270, + "read_count": 1084, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831127830576857, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831127846224690 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831128688597415, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10204, + "displayed_count": 8123, + "dropped_count": 2080, + "decode_error_count": 0, + "last_receive_time_ns": 1792831128591524990, + "last_frame_time_ns": 1792831128628886709, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831127824715173, + "capture_count": 510, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.71593012273154, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 270, + "read_count": 1084, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831127830576857, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831127846224690 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831129413038990, + "ended_time_ns": 1792831129437761445, + "duration_s": 0.001188781, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129411322934, + "ended_time_ns": 1792831129411545227, + "duration_s": 0.000222293, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129411326656, + "ok": true, + "ended_time_ns": 1792831129411335045, + "duration_s": 8.389e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129411336193, + "ok": true, + "ended_time_ns": 1792831129411338656, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129411339045, + "ok": true, + "ended_time_ns": 1792831129411341767, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129411342137, + "ok": true, + "ended_time_ns": 1792831129411533598, + "duration_s": 0.000191461 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129411534616, + "ok": true, + "ended_time_ns": 1792831129411538376, + "duration_s": 3.76e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129411538876, + "ok": true, + "ended_time_ns": 1792831129411541931, + "duration_s": 3.055e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129411542246, + "ok": true, + "ended_time_ns": 1792831129411544727, + "duration_s": 2.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831129412245348, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831128350498121, + "frame_age_s": 1.061779486, + "heartbeat_age_s": 1.060603871, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831129412282662, + "duration_s": 3.7314e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831129412284459, + "status_ok": true, + "gap_mm": 82.87907797110785, + "reference_angle_deg": 275.44921875, + "sample_observed_time_ns": 1792831128348475574, + "sample_age_s": 1.06381681, + "heartbeat_age_s": 1.060632315, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831129412296032, + "duration_s": 1.1573e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831129412300884, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831129412420216, + "duration_s": 0.000119332 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831129437786078, + "ended_time_ns": 1792831129533112845, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831339619106046, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831333752118575, + "ended_time_ns": 1792831333764885160, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831333764989853, + "ended_time_ns": 1792831333809246678, + "transferred_bytes": 13705, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,705 bytes\nTotal transferred file size: 13,705 bytes\nLiteral data: 13,705 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,840\n\nsent 46 bytes received 13,840 bytes 27,772.00 bytes/sec\ntotal size is 13,705 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831333809834338, + "ended_time_ns": 1792831339617068638, + "transferred_bytes": 13432927, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,432,927 bytes\nTotal transferred file size: 13,432,927 bytes\nLiteral data: 13,432,927 bytes\nMatched data: 0 bytes\nFile list size: 225\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,436,614\n\nsent 168 bytes received 13,436,614 bytes 2,067,197.23 bytes/sec\ntotal size is 13,432,927 speedup is 1.00" + } + ], + "transferred_bytes": 13446632, + "copied_local_bytes": 14065754, + "started_time_ns": 1792831333751829015, + "ended_time_ns": 1792831339617913532 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831333752735133, + "ended_time_ns": 1792831333766861296, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831333766987418, + "ended_time_ns": 1792831333815085391, + "transferred_bytes": 13729, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,729 bytes\nTotal transferred file size: 13,729 bytes\nLiteral data: 13,729 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,864\n\nsent 46 bytes received 13,864 bytes 27,820.00 bytes/sec\ntotal size is 13,729 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831333815557156, + "ended_time_ns": 1792831334702324679, + "transferred_bytes": 16197763, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 16,197,763 bytes\nTotal transferred file size: 16,197,763 bytes\nLiteral data: 16,197,763 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 16,202,117\n\nsent 168 bytes received 16,202,117 bytes 10,801,523.33 bytes/sec\ntotal size is 16,197,763 speedup is 1.00" + } + ], + "transferred_bytes": 16211492, + "copied_local_bytes": 16816221, + "started_time_ns": 1792831333752032157, + "ended_time_ns": 1792831334702580548 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163849_00024", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832832260876810, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832831813230161, + "ended_time_ns": 1792832832259338845, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832831813230161, + "ended_time_ns": 1792832832029458562, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163849_00024", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163849_00024 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163849_00024\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831133133043113\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831133133043113，vive_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831143091408271，vive_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007028s，first=1792831133140071401，T0=1792831133133043113，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001441s，last=1792831143089966829，Tstop=1792831143091408271，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1991\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00210197183995 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00210197183995 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1991，metadata 1991\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00210289794 Hz，最低 150.0 Hz，时长 9.94989538192749 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00210289794 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.00630950927734375s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993075089..1.0000000006495227，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.017138319713179383m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.722987267419462deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=399 duration=9.975s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=399，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 399，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=398，rows=399，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=399，monotonic违规=0，估算频率=40.02611460200641Hz，最大间隔=0.033036617s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 399，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02611311665179 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02611311665179 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033034932s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 598，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 15.9309..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 598，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00012704951526 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00012704951526 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021305699s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=598，bad_rows=0，monotonic违规=0，估算频率=60.00012995003019Hz，最大间隔=0.021305847s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 399，metadata 399\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 598，metadata 598\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 399，timestamps 399，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=399，timestamps=399，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.975s，timestamps=9.943508600000003s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=9.943508600000003s，clamp=9.949978931s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831133133043113，pi_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831143091408271，pi_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000909s，first=1792831133133952336，T0=1792831133133043113，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.001652s，first=1792831133134695078，T0=1792831133133043113，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013947s，last=1792831143077460936，Tstop=1792831143091408271，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006734s，last=1792831143084674009，Tstop=1792831143091408271，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006387s，vive=9.949895428s，camera=9.943508600000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000084s，vive=9.949895428s，clamp=9.949978931s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.006119s，vive_first=1792831133140071401，camera_first=1792831133133952336，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005376s，vive_first=1792831133140071401，clamp_first=1792831133134695078，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.012506s，vive_last=1792831143089966829，camera_last=1792831143077460936，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.005293s，vive_last=1792831143089966829，clamp_last=1792831143084674009，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832029730687, + "ended_time_ns": 1792832832259338845, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163849_00024", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163849_00024 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163849_00024\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831133133043113\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831133133043113，vive_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831143091408271，vive_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007028s，first=1792831133140071401，T0=1792831133133043113，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001441s，last=1792831143089966829，Tstop=1792831143091408271，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1991\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00210197183995 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00210197183995 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1991，metadata 1991\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00210289794 Hz，最低 150.0 Hz，时长 9.94989538192749 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00210289794 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.00630950927734375s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993932623..1.0000000006176304，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.004069154264322864m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9907391107725604deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=399 duration=9.975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=399，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 399，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=398，rows=399，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=399，monotonic违规=0，估算频率=40.024549968835Hz，最大间隔=0.031981677s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 399，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02454802876739 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02454802876739 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031980307s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 597，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 53.3589..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 597，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000055898709846 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000055898709846 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018389817s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=597，bad_rows=0，monotonic违规=0，估算频率=60.00006227724585Hz，最大间隔=0.018390113s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 399，metadata 399\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 597，metadata 597\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 399，timestamps 399，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=399，timestamps=399，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.975s，timestamps=9.943897423000005s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=9.943897423000005s，clamp=9.933324078999991s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831133133043113，pi_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831143091408271，pi_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013127s，first=1792831133146169678，T0=1792831133133043113，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014205s，first=1792831133147248534，T0=1792831133133043113，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001341s，last=1792831143090067101，Tstop=1792831143091408271，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.010836s，last=1792831143080572613，Tstop=1792831143091408271，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.005998s，vive=9.949895428s，camera=9.943897423000005s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.016571s，vive=9.949895428s，clamp=9.933324078999991s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006098s，vive_first=1792831133140071401，camera_first=1792831133146169678，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007177s，vive_first=1792831133140071401，clamp_first=1792831133147248534，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.000100s，vive_last=1792831143089966829，camera_last=1792831143090067101，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009394s，vive_last=1792831143089966829，clamp_last=1792831143080572613，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163849_00024\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831133133043113\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831133133043113，vive_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831143091408271，vive_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007028s，first=1792831133140071401，T0=1792831133133043113，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001441s，last=1792831143089966829，Tstop=1792831143091408271，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1991\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00210197183995 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00210197183995 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1991，metadata 1991\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00210289794 Hz，最低 150.0 Hz，时长 9.94989538192749 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00210289794 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.00630950927734375s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993075089..1.0000000006495227，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.017138319713179383m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.722987267419462deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=399 duration=9.975s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=399，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 399，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=398，rows=399，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=399，monotonic违规=0，估算频率=40.02611460200641Hz，最大间隔=0.033036617s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 399，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02611311665179 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02611311665179 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033034932s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 598，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 15.9309..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 598，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00012704951526 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00012704951526 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021305699s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=598，bad_rows=0，monotonic违规=0，估算频率=60.00012995003019Hz，最大间隔=0.021305847s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 399，metadata 399\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 598，metadata 598\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 399，timestamps 399，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=399，timestamps=399，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.975s，timestamps=9.943508600000003s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=9.943508600000003s，clamp=9.949978931s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831133133043113，pi_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831143091408271，pi_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000909s，first=1792831133133952336，T0=1792831133133043113，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.001652s，first=1792831133134695078，T0=1792831133133043113，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013947s，last=1792831143077460936，Tstop=1792831143091408271，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006734s，last=1792831143084674009，Tstop=1792831143091408271，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006387s，vive=9.949895428s，camera=9.943508600000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000084s，vive=9.949895428s，clamp=9.949978931s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.006119s，vive_first=1792831133140071401，camera_first=1792831133133952336，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005376s，vive_first=1792831133140071401，clamp_first=1792831133134695078，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.012506s，vive_last=1792831143089966829，camera_last=1792831143077460936，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.005293s，vive_last=1792831143089966829，clamp_last=1792831143084674009，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163849_00024\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831133133043113\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831133133043113，vive_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831143091408271，vive_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007028s，first=1792831133140071401，T0=1792831133133043113，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001441s，last=1792831143089966829，Tstop=1792831143091408271，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1991\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00210197183995 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00210197183995 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1991，metadata 1991\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00210289794 Hz，最低 150.0 Hz，时长 9.94989538192749 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00210289794 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.00630950927734375s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993932623..1.0000000006176304，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.004069154264322864m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9907391107725604deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=399 duration=9.975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=399，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 399，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=398，rows=399，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=399，monotonic违规=0，估算频率=40.024549968835Hz，最大间隔=0.031981677s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 399，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02454802876739 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02454802876739 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031980307s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 597，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 53.3589..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 597，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000055898709846 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000055898709846 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018389817s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=597，bad_rows=0，monotonic违规=0，估算频率=60.00006227724585Hz，最大间隔=0.018390113s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 399，metadata 399\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 597，metadata 597\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 399，timestamps 399，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=399，timestamps=399，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.975s，timestamps=9.943897423000005s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=9.943897423000005s，clamp=9.933324078999991s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831133133043113，pi_T0=1792831133133043113，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831143091408271，pi_Tstop=1792831143091408271，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013127s，first=1792831133146169678，T0=1792831133133043113，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014205s，first=1792831133147248534，T0=1792831133133043113，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001341s，last=1792831143090067101，Tstop=1792831143091408271，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.010836s，last=1792831143080572613，Tstop=1792831143091408271，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.005998s，vive=9.949895428s，camera=9.943897423000005s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.016571s，vive=9.949895428s，clamp=9.933324078999991s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006098s，vive_first=1792831133140071401，camera_first=1792831133146169678，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007177s，vive_first=1792831133140071401，clamp_first=1792831133147248534，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.000100s，vive_last=1792831143089966829，camera_last=1792831143090067101，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009394s，vive_last=1792831143089966829，clamp_last=1792831143080572613，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163849_00024_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812808629769 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163849_00024/control/stop_left_hand.flag b/opening and closing/session_20261024_163849_00024/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..e1c268de75ff93a6b8f96ba73c3c7769c24bde73 --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831143091408271 \ No newline at end of file diff --git a/opening and closing/session_20261024_163849_00024/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163849_00024/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..37dfc9d4c3a38d5767415182c0653382a852579b --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,598 @@ +1792831133.134695078 100.0000 +1792831133.151342804 100.0000 +1792831133.168011678 100.0000 +1792831133.184701255 100.0000 +1792831133.201352999 100.0000 +1792831133.218009336 100.0000 +1792831133.234684191 100.0000 +1792831133.251341306 100.0000 +1792831133.268013587 100.0000 +1792831133.284684331 100.0000 +1792831133.301340593 100.0000 +1792831133.318016097 100.0000 +1792831133.334692934 100.0000 +1792831133.351341437 100.0000 +1792831133.368013163 100.0000 +1792831133.384698629 100.0000 +1792831133.401342484 100.0000 +1792831133.418013265 100.0000 +1792831133.434693306 100.0000 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"Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 598, + "clamp_first_sample_time_ns": 1792831133134695078, + "clamp_last_sample_time_ns": 1792831143084674009, + "clamp_actual_hz": 60.00012704951526, + "clamp_value_min": 15.930873424908825, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 268, + "read_count": 1999, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2232 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..12d8c1b4d876dc8ad53103a73be2371b1aa036cc --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831129631780177, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163849_00024", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + 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"pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + 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null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831128913244635, + "ok": true, + "ended_time_ns": 1792831128913253450, + "duration_s": 8.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831128913254653, + "ok": true, + "ended_time_ns": 1792831128913257468, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831128913257876, + "ok": true, + "ended_time_ns": 1792831128913260839, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831128913261172, + "ok": true, + "ended_time_ns": 1792831128913471524, + "duration_s": 0.000210352 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831128913473691, + "ok": true, + "ended_time_ns": 1792831128913479487, + "duration_s": 5.796e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831128913479987, + "ok": true, + "ended_time_ns": 1792831128913483006, + "duration_s": 3.019e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831128913483358, + "ok": true, + "ended_time_ns": 1792831128913485876, + "duration_s": 2.518e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831128914760509, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831128837920637, + "frame_age_s": 0.076876594, + "heartbeat_age_s": 0.056638322, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831128914802602, + "duration_s": 4.2093e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831128914804879, + "status_ok": true, + "gap_mm": 82.06333872922627, + "reference_angle_deg": 103.44726562499999, + "sample_observed_time_ns": 1792831128851338337, + "sample_age_s": 0.063475283, + "heartbeat_age_s": 0.056670045, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831128914817620, + "duration_s": 1.2741e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831128914818916, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831128914821361, + "duration_s": 2.445e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831128914822879, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831128915004972, + "duration_s": 0.000182093 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "73804cc65d4d4964bfabfeb1752aa4b7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2284, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831129361307999, + "capture_count": 573, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 268, + "read_count": 1175, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129351345160, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129366056604 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831129451251440, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9895, + "displayed_count": 9650, + "dropped_count": 244, + "decode_error_count": 0, + "last_receive_time_ns": 1792831129372459638, + "last_frame_time_ns": 1792831129343877346, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831129361307999, + "capture_count": 573, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 268, + "read_count": 1175, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129351345160, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129366056604 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129652816596, + "ended_time_ns": 1792831129659057619, + "duration_s": 0.000215741, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129668820579, + "ok": true, + "ended_time_ns": 1792831129668828634, + "duration_s": 8.055e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129668830579, + "ok": true, + "ended_time_ns": 1792831129668833394, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129668833875, + "ok": true, + "ended_time_ns": 1792831129668836931, + "duration_s": 3.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129668837301, + "ok": true, + "ended_time_ns": 1792831129669021375, + "duration_s": 0.000184074 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129669022357, + "ok": true, + "ended_time_ns": 1792831129669026098, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129669026616, + "ok": true, + "ended_time_ns": 1792831129669029468, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129669029913, + "ok": true, + "ended_time_ns": 1792831129669031783, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163849_00024", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "8553b6d7f18849a780674aa5fcb4ad9b", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831129683598948, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "timing": { + "server_start_request_time_ns": 1792831129679276456, + "subprocess_popen_time_ns": 1792831129683598948, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129668816449, + "ended_time_ns": 1792831129669032190, + "duration_s": 0.000215741, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129668820579, + "ok": true, + "ended_time_ns": 1792831129668828634, + "duration_s": 8.055e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129668830579, + "ok": true, + "ended_time_ns": 1792831129668833394, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129668833875, + "ok": true, + "ended_time_ns": 1792831129668836931, + "duration_s": 3.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129668837301, + "ok": true, + "ended_time_ns": 1792831129669021375, + "duration_s": 0.000184074 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129669022357, + "ok": true, + "ended_time_ns": 1792831129669026098, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129669026616, + "ok": true, + "ended_time_ns": 1792831129669029468, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129669029913, + "ok": true, + "ended_time_ns": 1792831129669031783, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "8553b6d7f18849a780674aa5fcb4ad9b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2285, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831129361307999, + "capture_count": 573, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 268, + "read_count": 1175, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129351345160, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129366056604 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + 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+ "ended_time_ns": 1792831129668833394, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129668833875, + "ok": true, + "ended_time_ns": 1792831129668836931, + "duration_s": 3.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129668837301, + "ok": true, + "ended_time_ns": 1792831129669021375, + "duration_s": 0.000184074 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129669022357, + "ok": true, + "ended_time_ns": 1792831129669026098, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129669026616, + "ok": true, + "ended_time_ns": 1792831129669029468, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129669029913, + "ok": true, + "ended_time_ns": 1792831129669031783, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": 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offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": 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"ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "8553b6d7f18849a780674aa5fcb4ad9b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2285, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127337468794, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831129715009117, + "capture_count": 587, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.44726562499999, + "gripper_gap_mm": 82.06333872922627, + "status_ok": true, + "queue_size": 600, + "queue_depth": 144, + "max_queue_depth": 268, + "read_count": 1197, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129718010328, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129723153748 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831142153664115, + "ended_time_ns": 1792831142166196012, + "capture_stop_time_ns": 1792831143091408271, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163849_00024", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 214970 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 217162 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141830 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 218042 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 217085 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129824 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163849_00024", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "8553b6d7f18849a780674aa5fcb4ad9b", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831144123835493, + "ended_time_ns": 1792831144136608698, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "timing": { + "server_start_request_time_ns": 1792831129679276456, + "subprocess_popen_time_ns": 1792831129683598948, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831129727130739, + "validate_start_time_ns": 1792831130678196546, + "session_dir_create_start_time_ns": 1792831129727856889, + "session_dir_create_end_time_ns": 1792831129728759946, + "as5600_init_start_time_ns": 1792831129729739782, + "as5600_init_end_time_ns": 1792831129730542080, + "as5600_zero_start_time_ns": 1792831129732243270, + "as5600_zero_end_time_ns": 1792831130537976854, + "camera_init_start_time_ns": 1792831130541414751, + "camera_init_end_time_ns": 1792831130543350904, + "camera_start_start_time_ns": 1792831130544716907, + "camera_start_end_time_ns": 1792831130546005762, + "camera_first_frame_wait_start_time_ns": 1792831130547306524, + "camera_first_frame_wait_end_time_ns": 1792831130548572990, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831130549695641, + "armed_time_ns": 1792831130677204191, + "waiting_t0_time_ns": 1792831130679961105, + "recording_start_time_ns": 1792831133136866824, + "stop_request_time_ns": 1792831142175171840, + "finalized_time_ns": 1792831143095221183 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129668816449, + "ended_time_ns": 1792831129669032190, + "duration_s": 0.000215741, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129668820579, + "ok": true, + "ended_time_ns": 1792831129668828634, + "duration_s": 8.055e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129668830579, + "ok": true, + "ended_time_ns": 1792831129668833394, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129668833875, + "ok": true, + "ended_time_ns": 1792831129668836931, + "duration_s": 3.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129668837301, + "ok": true, + "ended_time_ns": 1792831129669021375, + "duration_s": 0.000184074 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129669022357, + "ok": true, + "ended_time_ns": 1792831129669026098, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129669026616, + "ok": true, + "ended_time_ns": 1792831129669029468, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129669029913, + "ok": true, + "ended_time_ns": 1792831129669031783, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "8553b6d7f18849a780674aa5fcb4ad9b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2285, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831143902144900, + "capture_count": 535, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831143904143479, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831143909379917 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831143269032271, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10015, + "displayed_count": 9760, + "dropped_count": 253, + "decode_error_count": 0, + "last_receive_time_ns": 1792831143259089173, + "last_frame_time_ns": 1792831143216835682, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831143902144900, + "capture_count": 535, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831143904143479, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831143909379917 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831144192110083, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831144192108914 + } + }, + "updated_time_ns": 1792831144192112808 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b36d6bece2f3be9bb45b87b4510e0c6bdc0db2d8 --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831129688156443, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "effective_capture_stop_time_ns": 1792831143091408271, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.15742968022823334, + "y0": -0.7438345551490784, + "z0": -0.603277325630188, + "qx0": 0.11082651492058336, + "qy0": 0.6950387040998817, + "qz0": -0.14395450580578537, + "qw0": 0.6956405563593365 + }, + "zero_reference_sample_ns": 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closing/session_20261024_163849_00024/right_hand/Metadata/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dc350901309ee0ab4da76bd8b1896b6961ae5e64 --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792831143103504982, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.6", + "left_pi_host": "192.168.157.6", + "right_pi_host": "192.168.157.66", + "pi_port": 8765, + 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+ "recording_start_time_ns": 1792831133133315290, + "stop_request_time_ns": 1792831142282591497, + "finalized_time_ns": 1792831143102433755 + }, + "last_error": null, + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "effective_capture_stop_time_ns": 1792831143091408271, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_163849_00024", + "control_generation": 28, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 274.306640625, + "reference_source": "max_open_init", + "zero_angle_deg": 274.306640625, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 9.5e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831133133275401, + "camera_frame_count": 399, + "camera_started_time_ns": 1792831130563698298, + "camera_stopped_time_ns": 1792831143101030792, + "camera_actual_fps": 31.824951614783267, + "camera_first_frame_time_ns": 1792831133146169678, + "camera_last_frame_time_ns": 1792831143090067101, + "camera_frame_timestamp_fps": 40.02454802876741, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831143090067101, + "capture_count": 502, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 597, + "clamp_first_sample_time_ns": 1792831133147248534, + "clamp_last_sample_time_ns": 1792831143080572613, + "clamp_actual_hz": 60.000055898709796, + "clamp_value_min": 53.35890922888777, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 270, + "read_count": 2000, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2246 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e3d0282f5153514fa98b4fb945ff9727e18871b6 --- /dev/null +++ b/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831129659762177, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163849_00024", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163849_00024/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163834_00023", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163834_00023", + "--control-generation", + "27", + "--ready-token", + "c0600574c88c4e8a8ff63b231cc4a23f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831129660256894, + "ended_time_ns": 1792831129679178867, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.diagnostics.json", + "capture_start_time_ns": 1792831117693996536, + "capture_stop_time_ns": 1792831127326503243, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163834_00023/right_hand", + "timing": { + "server_start_request_time_ns": 1792831114200171173, + "subprocess_popen_time_ns": 1792831114204628726, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831114272574306, + "validate_start_time_ns": 1792831115210439587, + "session_dir_create_start_time_ns": 1792831114273537794, + "session_dir_create_end_time_ns": 1792831114274505133, + "as5600_init_start_time_ns": 1792831114275802764, + "as5600_init_end_time_ns": 1792831114276864658, + "as5600_zero_start_time_ns": 1792831114278513859, + "as5600_zero_end_time_ns": 1792831115083684992, + "camera_init_start_time_ns": 1792831115086817896, + "camera_init_end_time_ns": 1792831115089225198, + "camera_start_start_time_ns": 1792831115090351295, + "camera_start_end_time_ns": 1792831115091970088, + "camera_first_frame_wait_start_time_ns": 1792831115093628419, + "camera_first_frame_wait_end_time_ns": 1792831115095247064, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831115096726434, + "armed_time_ns": 1792831115209463266, + "waiting_t0_time_ns": 1792831115212165120, + "recording_start_time_ns": 1792831117699125370, + "stop_request_time_ns": 1792831126467899095, + "finalized_time_ns": 1792831127335131885 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831129411233361, + "ended_time_ns": 1792831129412422142, + "duration_s": 0.001188781, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129411322934, + "ended_time_ns": 1792831129411545227, + "duration_s": 0.000222293, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129411326656, + "ok": true, + "ended_time_ns": 1792831129411335045, + "duration_s": 8.389e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129411336193, + "ok": true, + "ended_time_ns": 1792831129411338656, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129411339045, + "ok": true, + "ended_time_ns": 1792831129411341767, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129411342137, + "ok": true, + "ended_time_ns": 1792831129411533598, + "duration_s": 0.000191461 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129411534616, + "ok": true, + "ended_time_ns": 1792831129411538376, + "duration_s": 3.76e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129411538876, + "ok": true, + "ended_time_ns": 1792831129411541931, + "duration_s": 3.055e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129411542246, + "ok": true, + "ended_time_ns": 1792831129411544727, + "duration_s": 2.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831129412245348, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831128350498121, + "frame_age_s": 1.061779486, + "heartbeat_age_s": 1.060603871, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831129412282662, + "duration_s": 3.7314e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831129412284459, + "status_ok": true, + "gap_mm": 82.87907797110785, + "reference_angle_deg": 275.44921875, + "sample_observed_time_ns": 1792831128348475574, + "sample_age_s": 1.06381681, + "heartbeat_age_s": 1.060632315, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831129412296032, + "duration_s": 1.1573e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831129412296995, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831129412299606, + "duration_s": 2.611e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831129412300884, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831129412420216, + "duration_s": 0.000119332 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 27, + "ready_token": "c0600574c88c4e8a8ff63b231cc4a23f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163834_00023.ready.json", + "arm_request_id": "a97e6b1ff0a24b13978f5aefcb623b53", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3112, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831129423912715, + "capture_count": 574, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 127, + "max_queue_depth": 270, + "read_count": 1180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129430529222, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129445209753 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831128688597415, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10204, + "displayed_count": 8123, + "dropped_count": 2080, + "decode_error_count": 0, + "last_receive_time_ns": 1792831128591524990, + "last_frame_time_ns": 1792831128628886709, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831129423912715, + "capture_count": 574, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 127, + "max_queue_depth": 270, + "read_count": 1180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129430529222, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129445209753 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129682142929, + "ended_time_ns": 1792831129689096551, + "duration_s": 0.000234404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129680365772, + "ok": true, + "ended_time_ns": 1792831129680373846, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129680375921, + "ok": true, + "ended_time_ns": 1792831129680378458, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129680378939, + "ok": true, + "ended_time_ns": 1792831129680381661, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129680382013, + "ok": true, + "ended_time_ns": 1792831129680583751, + "duration_s": 0.000201738 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129680584918, + "ok": true, + "ended_time_ns": 1792831129680588881, + "duration_s": 3.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129680589418, + "ok": true, + "ended_time_ns": 1792831129680592529, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129680592918, + "ok": true, + "ended_time_ns": 1792831129680595529, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163849_00024", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "ca2bee98fdd249cd809b600f3827bd80", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831129695012138, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "timing": { + "server_start_request_time_ns": 1792831129690002684, + "subprocess_popen_time_ns": 1792831129695012138, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129680361606, + "ended_time_ns": 1792831129680596010, + "duration_s": 0.000234404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129680365772, + "ok": true, + "ended_time_ns": 1792831129680373846, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129680375921, + "ok": true, + "ended_time_ns": 1792831129680378458, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129680378939, + "ok": true, + "ended_time_ns": 1792831129680381661, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129680382013, + "ok": true, + "ended_time_ns": 1792831129680583751, + "duration_s": 0.000201738 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129680584918, + "ok": true, + "ended_time_ns": 1792831129680588881, + "duration_s": 3.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129680589418, + "ok": true, + "ended_time_ns": 1792831129680592529, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129680592918, + "ok": true, + "ended_time_ns": 1792831129680595529, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "ca2bee98fdd249cd809b600f3827bd80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3113, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831129423912715, + "capture_count": 574, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 127, + "max_queue_depth": 270, + "read_count": 1180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129430529222, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129445209753 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831129682994257, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10213, + "displayed_count": 8130, + "dropped_count": 2081, + "decode_error_count": 0, + "last_receive_time_ns": 1792831129662815000, + "last_frame_time_ns": 1792831129583436161, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163834_00023", + "generation": 27, + "session_count": 27, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831129423912715, + "capture_count": 574, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 127, + "max_queue_depth": 270, + "read_count": 1180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129430529222, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129445209753 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831129692429483, + "ended_time_ns": 1792831129710106244 + }, + "pi_start_request_time_ns": 1792831129710114622, + "capture_start_time_ns": 1792831133133043113, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831142278855924, + "capture_stop_time_ns": 1792831143091408271, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163849_00024", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "ca2bee98fdd249cd809b600f3827bd80", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831129695012138, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "timing": { + "server_start_request_time_ns": 1792831129690002684, + "subprocess_popen_time_ns": 1792831129695012138, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831129745976161, + "validate_start_time_ns": 1792831130660930109, + "session_dir_create_start_time_ns": 1792831129747408402, + "session_dir_create_end_time_ns": 1792831129750799876, + "as5600_init_start_time_ns": 1792831129751786863, + "as5600_init_end_time_ns": 1792831129752640426, + "as5600_zero_start_time_ns": 1792831129754364089, + "as5600_zero_end_time_ns": 1792831130560316157, + "camera_init_start_time_ns": 1792831130561818378, + "camera_init_end_time_ns": 1792831130563703372, + "camera_start_start_time_ns": 1792831130566357764, + "camera_start_end_time_ns": 1792831130567731801, + "camera_first_frame_wait_start_time_ns": 1792831130569123968, + "camera_first_frame_wait_end_time_ns": 1792831130570506247, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831130571873155, + "armed_time_ns": 1792831130659752106, + "waiting_t0_time_ns": 1792831130662387683, + "recording_start_time_ns": 1792831133133315290, + "stop_request_time_ns": 1792831142278097611, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129680361606, + "ended_time_ns": 1792831129680596010, + "duration_s": 0.000234404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129680365772, + "ok": true, + "ended_time_ns": 1792831129680373846, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129680375921, + "ok": true, + "ended_time_ns": 1792831129680378458, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129680378939, + "ok": true, + "ended_time_ns": 1792831129680381661, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129680382013, + "ok": true, + "ended_time_ns": 1792831129680583751, + "duration_s": 0.000201738 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129680584918, + "ok": true, + "ended_time_ns": 1792831129680588881, + "duration_s": 3.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129680589418, + "ok": true, + "ended_time_ns": 1792831129680592529, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129680592918, + "ok": true, + "ended_time_ns": 1792831129680595529, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "ca2bee98fdd249cd809b600f3827bd80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3113, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 27, + "last_bootstrap_time_ns": 1792831127336860288, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831129725608648, + "capture_count": 586, + "capture_error_count": 0, + "writer_count": 385, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.44921875, + "gripper_gap_mm": 82.87907797110785, + "status_ok": true, + "queue_size": 600, + "queue_depth": 145, + "max_queue_depth": 270, + "read_count": 1198, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831129730577268, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831129742339819 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831142279285294, + "ended_time_ns": 1792831142291455022, + "capture_stop_time_ns": 1792831143091408271, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163849_00024", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "ca2bee98fdd249cd809b600f3827bd80", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831143308924179, + "ended_time_ns": 1792831143321260664, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "timing": { + "server_start_request_time_ns": 1792831129690002684, + "subprocess_popen_time_ns": 1792831129695012138, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831129745976161, + "validate_start_time_ns": 1792831130660930109, + "session_dir_create_start_time_ns": 1792831129747408402, + "session_dir_create_end_time_ns": 1792831129750799876, + "as5600_init_start_time_ns": 1792831129751786863, + "as5600_init_end_time_ns": 1792831129752640426, + "as5600_zero_start_time_ns": 1792831129754364089, + "as5600_zero_end_time_ns": 1792831130560316157, + "camera_init_start_time_ns": 1792831130561818378, + "camera_init_end_time_ns": 1792831130563703372, + "camera_start_start_time_ns": 1792831130566357764, + "camera_start_end_time_ns": 1792831130567731801, + "camera_first_frame_wait_start_time_ns": 1792831130569123968, + "camera_first_frame_wait_end_time_ns": 1792831130570506247, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831130571873155, + "armed_time_ns": 1792831130659752106, + "waiting_t0_time_ns": 1792831130662387683, + "recording_start_time_ns": 1792831133133315290, + "stop_request_time_ns": 1792831142282591497, + "finalized_time_ns": 1792831143102433755 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129680361606, + "ended_time_ns": 1792831129680596010, + "duration_s": 0.000234404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129680365772, + "ok": true, + "ended_time_ns": 1792831129680373846, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129680375921, + "ok": true, + "ended_time_ns": 1792831129680378458, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129680378939, + "ok": true, + "ended_time_ns": 1792831129680381661, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129680382013, + "ok": true, + "ended_time_ns": 1792831129680583751, + "duration_s": 0.000201738 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129680584918, + "ok": true, + "ended_time_ns": 1792831129680588881, + "duration_s": 3.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129680589418, + "ok": true, + "ended_time_ns": 1792831129680592529, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129680592918, + "ok": true, + "ended_time_ns": 1792831129680595529, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "ca2bee98fdd249cd809b600f3827bd80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3113, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + 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1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831129727130739, + "validate_start_time_ns": 1792831130678196546, + "session_dir_create_start_time_ns": 1792831129727856889, + "session_dir_create_end_time_ns": 1792831129728759946, + "as5600_init_start_time_ns": 1792831129729739782, + "as5600_init_end_time_ns": 1792831129730542080, + "as5600_zero_start_time_ns": 1792831129732243270, + "as5600_zero_end_time_ns": 1792831130537976854, + "camera_init_start_time_ns": 1792831130541414751, + "camera_init_end_time_ns": 1792831130543350904, + "camera_start_start_time_ns": 1792831130544716907, + "camera_start_end_time_ns": 1792831130546005762, + "camera_first_frame_wait_start_time_ns": 1792831130547306524, + "camera_first_frame_wait_end_time_ns": 1792831130548572990, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831130549695641, + "armed_time_ns": 1792831130677204191, + "waiting_t0_time_ns": 1792831130679961105, + "recording_start_time_ns": 1792831133136866824, + "stop_request_time_ns": 1792831142175171840, + "finalized_time_ns": 1792831143095221183 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129668816449, + "ended_time_ns": 1792831129669032190, + "duration_s": 0.000215741, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129668820579, + "ok": true, + "ended_time_ns": 1792831129668828634, + "duration_s": 8.055e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129668830579, + "ok": true, + "ended_time_ns": 1792831129668833394, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129668833875, + "ok": true, + "ended_time_ns": 1792831129668836931, + "duration_s": 3.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129668837301, + "ok": true, + "ended_time_ns": 1792831129669021375, + "duration_s": 0.000184074 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129669022357, + "ok": true, + "ended_time_ns": 1792831129669026098, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129669026616, + "ok": true, + "ended_time_ns": 1792831129669029468, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129669029913, + "ok": true, + "ended_time_ns": 1792831129669031783, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "8553b6d7f18849a780674aa5fcb4ad9b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2285, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831145401298517, + "capture_count": 595, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145420808565, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145424832852 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831145348314870, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10032, + "displayed_count": 9778, + "dropped_count": 253, + "decode_error_count": 0, + "last_receive_time_ns": 1792831145260824788, + "last_frame_time_ns": 1792831145233663852, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831145401298517, + "capture_count": 595, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145420808565, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145424832852 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831145783590725, + "ended_time_ns": 1792831145793660025, + "duration_s": 0.001208059, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831145801723470, + "ended_time_ns": 1792831145801935841, + "duration_s": 0.000212371, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831145801727730, + "ok": true, + "ended_time_ns": 1792831145801735822, + "duration_s": 8.092e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831145801737081, + "ok": true, + "ended_time_ns": 1792831145801739693, + "duration_s": 2.612e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831145801740193, + "ok": true, + "ended_time_ns": 1792831145801742841, + "duration_s": 2.648e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831145801743193, + "ok": true, + "ended_time_ns": 1792831145801925989, + "duration_s": 0.000182796 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831145801926952, + "ok": true, + "ended_time_ns": 1792831145801930323, + "duration_s": 3.371e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831145801930804, + "ok": true, + "ended_time_ns": 1792831145801933193, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831145801933563, + "ok": true, + "ended_time_ns": 1792831145801935452, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831145802600176, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831145401298517, + "frame_age_s": 0.401330381, + "heartbeat_age_s": 0.377779009, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145802633454, + "duration_s": 3.3278e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831145802635195, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.64526367470256, + "sample_observed_time_ns": 1792831145420808565, + "sample_age_s": 0.381833407, + "heartbeat_age_s": 0.377805083, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145802645658, + "duration_s": 1.0463e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831145802650250, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831145802741325, + "duration_s": 9.1075e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831145793686455, + "ended_time_ns": 1792831145894210230, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163849_00024", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + 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+ "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "ca2bee98fdd249cd809b600f3827bd80", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831145894228412, + "ended_time_ns": 1792831145906431580, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/right_hand", + "timing": { + "server_start_request_time_ns": 1792831129690002684, + "subprocess_popen_time_ns": 1792831129695012138, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831129745976161, + "validate_start_time_ns": 1792831130660930109, + 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"warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831129680361606, + "ended_time_ns": 1792831129680596010, + "duration_s": 0.000234404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831129680365772, + "ok": true, + "ended_time_ns": 1792831129680373846, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831129680375921, + "ok": true, + "ended_time_ns": 1792831129680378458, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831129680378939, + "ok": true, + "ended_time_ns": 1792831129680381661, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831129680382013, + "ok": true, + "ended_time_ns": 1792831129680583751, + "duration_s": 0.000201738 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831129680584918, + "ok": true, + "ended_time_ns": 1792831129680588881, + "duration_s": 3.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831129680589418, + "ok": true, + "ended_time_ns": 1792831129680592529, + "duration_s": 3.111e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831129680592918, + "ok": true, + "ended_time_ns": 1792831129680595529, + "duration_s": 2.611e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "ca2bee98fdd249cd809b600f3827bd80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3113, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831145638535960, + "capture_count": 604, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 270, + "read_count": 2152, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145630573489, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145639993052 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831145590647489, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10349, + "displayed_count": 8221, + "dropped_count": 2126, + "decode_error_count": 0, + "last_receive_time_ns": 1792831145530133497, + "last_frame_time_ns": 1792831145453373995, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831145638535960, + "capture_count": 604, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 270, + "read_count": 2152, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145630573489, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145639993052 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831145932222257, + "ended_time_ns": 1792831145942690384, + "duration_s": 0.001191225, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831145931291879, + "ended_time_ns": 1792831145931576079, + "duration_s": 0.0002842, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831145931295694, + "ok": true, + "ended_time_ns": 1792831145931325860, + "duration_s": 3.0166e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831145931327397, + "ok": true, + "ended_time_ns": 1792831145931330453, + "duration_s": 3.056e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831145931330990, + "ok": true, + "ended_time_ns": 1792831145931333971, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831145931334341, + "ok": true, + "ended_time_ns": 1792831145931563153, + "duration_s": 0.000228812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831145931564950, + "ok": true, + "ended_time_ns": 1792831145931569135, + "duration_s": 4.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831145931569857, + "ok": true, + "ended_time_ns": 1792831145931572875, + "duration_s": 3.018e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831145931573246, + "ok": true, + "ended_time_ns": 1792831145931575635, + "duration_s": 2.389e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831145932229034, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831145638535960, + "frame_age_s": 0.293723869, + "heartbeat_age_s": 0.292249278, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145932264107, + "duration_s": 3.5073e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831145932265718, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 274.306640625, + "sample_observed_time_ns": 1792831145630573489, + "sample_age_s": 0.301700007, + "heartbeat_age_s": 0.292275685, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145932276922, + "duration_s": 1.1204e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831145932281774, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831145932399383, + "duration_s": 0.000117609 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831145942715027, + "ended_time_ns": 1792831146084714599, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831333746499757, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831327828760659, + "ended_time_ns": 1792831327843305228, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831327843385234, + "ended_time_ns": 1792831327885354994, + "transferred_bytes": 13715, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,715 bytes\nTotal transferred file size: 13,715 bytes\nLiteral data: 13,715 bytes\nMatched data: 0 bytes\nFile list size: 73\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,849\n\nsent 46 bytes received 13,849 bytes 27,790.00 bytes/sec\ntotal size is 13,715 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831327885569836, + "ended_time_ns": 1792831333745716620, + "transferred_bytes": 14422686, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 14,422,686 bytes\nTotal transferred file size: 14,422,686 bytes\nLiteral data: 14,422,686 bytes\nMatched data: 0 bytes\nFile list size: 222\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 14,426,610\n\nsent 168 bytes received 14,426,610 bytes 2,219,504.31 bytes/sec\ntotal size is 14,422,686 speedup is 1.00" + } + ], + "transferred_bytes": 14436401, + "copied_local_bytes": 15080627, + "started_time_ns": 1792831327828043964, + "ended_time_ns": 1792831333745957605 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831327828796253, + "ended_time_ns": 1792831327844738084, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831327844809494, + "ended_time_ns": 1792831327886221932, + "transferred_bytes": 13730, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,730 bytes\nTotal transferred file size: 13,730 bytes\nLiteral data: 13,730 bytes\nMatched data: 0 bytes\nFile list size: 73\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,864\n\nsent 46 bytes received 13,864 bytes 27,820.00 bytes/sec\ntotal size is 13,730 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831327886392733, + "ended_time_ns": 1792831328811967859, + "transferred_bytes": 17531562, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 17,531,562 bytes\nTotal transferred file size: 17,531,562 bytes\nLiteral data: 17,531,562 bytes\nMatched data: 0 bytes\nFile list size: 213\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 17,536,241\n\nsent 168 bytes received 17,536,241 bytes 11,690,939.33 bytes/sec\ntotal size is 17,531,562 speedup is 1.00" + } + ], + "transferred_bytes": 17545292, + "copied_local_bytes": 18174718, + "started_time_ns": 1792831327828429737, + "ended_time_ns": 1792831328812438104 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163906_00025", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832832251832021, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832831802234865, + "ended_time_ns": 1792832832251497652, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832831802234865, + "ended_time_ns": 1792832832021505825, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163906_00025", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163906_00025 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163906_00025\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831149648086177\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831149648086177，vive_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831160192834022，vive_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006711s，first=1792831149654797120，T0=1792831149648086177，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003278s，last=1792831160189556230，Tstop=1792831160192834022，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2108\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00457324173215 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00457324173215 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2108，metadata 2108\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00457448246823 Hz，最低 150.0 Hz，时长 10.534759044647217 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00457448246823 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006120920181274414s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993495374..1.0000000006148257，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.005028831072289459m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.172083158107192deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=423 duration=10.575s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=423，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 423，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=422，rows=423，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=423，monotonic违规=0，估算频率=40.02690986386028Hz，最大间隔=0.035523456s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 423，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02690782510106 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02690782510106 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.035524494s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 633，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 14.4633..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 633，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00000688860837 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00000688860837 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021150348s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=633，bad_rows=0，monotonic违规=0，估算频率=60.00000963417876Hz，最大间隔=0.021151014s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 423，metadata 423\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 633，metadata 633\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 423，timestamps 423，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=423，timestamps=423，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.575s，timestamps=10.542907831999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.010s，camera=10.542907831999997s，clamp=10.533332124000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831149648086177，pi_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831160192834022，pi_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000968s，first=1792831149649054525，T0=1792831149648086177，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.006059s，first=1792831149654145648，T0=1792831149648086177，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000872s，last=1792831160191962357，Tstop=1792831160192834022，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005356s，last=1792831160187477772，Tstop=1792831160192834022，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008149s，vive=10.53475911s，camera=10.542907831999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001427s，vive=10.53475911s，clamp=10.533332124000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005743s，vive_first=1792831149654797120，camera_first=1792831149649054525，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000651s，vive_first=1792831149654797120，clamp_first=1792831149654145648，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002406s，vive_last=1792831160189556230，camera_last=1792831160191962357，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002078s，vive_last=1792831160189556230，clamp_last=1792831160187477772，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832832021922219, + "ended_time_ns": 1792832832251497652, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163906_00025", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163906_00025 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163906_00025\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831149648086177\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831149648086177，vive_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831160192834022，vive_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006711s，first=1792831149654797120，T0=1792831149648086177，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003278s，last=1792831160189556230，Tstop=1792831160192834022，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2108\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00457324173215 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00457324173215 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2108，metadata 2108\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00457448246823 Hz，最低 150.0 Hz，时长 10.534759044647217 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00457448246823 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006120920181274414s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994331162..1.0000000005530587，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0026766402627036137m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.6601437110863352deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=421 duration=10.525s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=421，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 421，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=420，rows=421，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=421，monotonic违规=0，估算频率=39.93102130935733Hz，最大间隔=0.057881526s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 421，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.93101982876281 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.93101982876281 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.05788123s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.237530%，missing=1，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 632，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 46.4491..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 632，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99950787471801 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99950787471801 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020871155s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=632，bad_rows=0，monotonic违规=0，估算频率=59.999506505485286Hz，最大间隔=0.020871247s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 421，metadata 421\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 632，metadata 632\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 421，timestamps 421，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=421，timestamps=421，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.007s，video=10.525s，timestamps=10.518138575s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.001s，camera=10.518138575s，clamp=10.516752925999988s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831149648086177，pi_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831160192834022，pi_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012724s，first=1792831149660810655，T0=1792831149648086177，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015824s，first=1792831149663910041，T0=1792831149648086177，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013885s，last=1792831160178949230，Tstop=1792831160192834022，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012171s，last=1792831160180662967，Tstop=1792831160192834022，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016621s，vive=10.53475911s，camera=10.518138575s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.018006s，vive=10.53475911s，clamp=10.516752925999988s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006014s，vive_first=1792831149654797120，camera_first=1792831149660810655，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.009113s，vive_first=1792831149654797120，clamp_first=1792831149663910041，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.010607s，vive_last=1792831160189556230，camera_last=1792831160178949230，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.008893s，vive_last=1792831160189556230，clamp_last=1792831160180662967，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163906_00025\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831149648086177\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831149648086177，vive_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831160192834022，vive_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006711s，first=1792831149654797120，T0=1792831149648086177，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003278s，last=1792831160189556230，Tstop=1792831160192834022，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2108\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00457324173215 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00457324173215 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2108，metadata 2108\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00457448246823 Hz，最低 150.0 Hz，时长 10.534759044647217 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00457448246823 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006120920181274414s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993495374..1.0000000006148257，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.005028831072289459m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.172083158107192deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=423 duration=10.575s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=423，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 423，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=422，rows=423，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=423，monotonic违规=0，估算频率=40.02690986386028Hz，最大间隔=0.035523456s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 423，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02690782510106 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02690782510106 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.035524494s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 633，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 14.4633..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 633，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00000688860837 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00000688860837 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021150348s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=633，bad_rows=0，monotonic违规=0，估算频率=60.00000963417876Hz，最大间隔=0.021151014s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 423，metadata 423\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 633，metadata 633\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 423，timestamps 423，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=423，timestamps=423，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.575s，timestamps=10.542907831999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.010s，camera=10.542907831999997s，clamp=10.533332124000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831149648086177，pi_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831160192834022，pi_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000968s，first=1792831149649054525，T0=1792831149648086177，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.006059s，first=1792831149654145648，T0=1792831149648086177，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000872s，last=1792831160191962357，Tstop=1792831160192834022，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005356s，last=1792831160187477772，Tstop=1792831160192834022，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008149s，vive=10.53475911s，camera=10.542907831999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001427s，vive=10.53475911s，clamp=10.533332124000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005743s，vive_first=1792831149654797120，camera_first=1792831149649054525，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000651s，vive_first=1792831149654797120，clamp_first=1792831149654145648，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002406s，vive_last=1792831160189556230，camera_last=1792831160191962357，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002078s，vive_last=1792831160189556230，clamp_last=1792831160187477772，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163906_00025\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831149648086177\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831149648086177，vive_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831160192834022，vive_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006711s，first=1792831149654797120，T0=1792831149648086177，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003278s，last=1792831160189556230，Tstop=1792831160192834022，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2108\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00457324173215 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00457324173215 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2108，metadata 2108\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00457448246823 Hz，最低 150.0 Hz，时长 10.534759044647217 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00457448246823 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006120920181274414s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994331162..1.0000000005530587，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0026766402627036137m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.6601437110863352deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=421 duration=10.525s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=421，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 421，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=420，rows=421，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=421，monotonic违规=0，估算频率=39.93102130935733Hz，最大间隔=0.057881526s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 421，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.93101982876281 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.93101982876281 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.05788123s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.237530%，missing=1，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 632，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 46.4491..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 632，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99950787471801 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99950787471801 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020871155s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=632，bad_rows=0，monotonic违规=0，估算频率=59.999506505485286Hz，最大间隔=0.020871247s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 421，metadata 421\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 632，metadata 632\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 421，timestamps 421，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=421，timestamps=421，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.007s，video=10.525s，timestamps=10.518138575s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.001s，camera=10.518138575s，clamp=10.516752925999988s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831149648086177，pi_T0=1792831149648086177，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831160192834022，pi_Tstop=1792831160192834022，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012724s，first=1792831149660810655，T0=1792831149648086177，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015824s，first=1792831149663910041，T0=1792831149648086177，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013885s，last=1792831160178949230，Tstop=1792831160192834022，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012171s，last=1792831160180662967，Tstop=1792831160192834022，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016621s，vive=10.53475911s，camera=10.518138575s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.018006s，vive=10.53475911s，clamp=10.516752925999988s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006014s，vive_first=1792831149654797120，camera_first=1792831149660810655，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.009113s，vive_first=1792831149654797120，clamp_first=1792831149663910041，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.010607s，vive_last=1792831160189556230，camera_last=1792831160178949230，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.008893s，vive_last=1792831160189556230，clamp_last=1792831160180662967，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163906_00025_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812802624083 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163906_00025/control/stop_left_hand.flag b/opening and closing/session_20261024_163906_00025/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..6e167ab1eaafac8936559f9f2870b1cdad9c2daf --- /dev/null +++ b/opening and closing/session_20261024_163906_00025/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831160192834022 \ No newline at end of file diff --git a/opening and closing/session_20261024_163906_00025/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163906_00025/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a3a938cc467bb90e31122c05dfadd364ef7c681 --- /dev/null +++ b/opening 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"camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 633, + "clamp_first_sample_time_ns": 1792831149654145648, + "clamp_last_sample_time_ns": 1792831160187477772, + "clamp_actual_hz": 60.00000688860839, + "clamp_value_min": 14.463342528854852, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 204, + "read_count": 1026, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2349 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a44d5334c100ea32514d9e1d6965a6bcb2cecfa0 --- /dev/null +++ b/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831146156082064, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163906_00025", + "paths": { + "pc_session_dir": 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closing/session_20261024_163906_00025/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + 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2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + 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8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163849_00024", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163849_00024", + "--control-generation", + "28", + "--ready-token", + "8553b6d7f18849a780674aa5fcb4ad9b", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831146156635034, + "ended_time_ns": 1792831146172079008, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.diagnostics.json", + "capture_start_time_ns": 1792831133133043113, + "capture_stop_time_ns": 1792831143091408271, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163849_00024/left_hand", + "timing": { + "server_start_request_time_ns": 1792831129679276456, + "subprocess_popen_time_ns": 1792831129683598948, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831129727130739, + "validate_start_time_ns": 1792831130678196546, + "session_dir_create_start_time_ns": 1792831129727856889, + "session_dir_create_end_time_ns": 1792831129728759946, + "as5600_init_start_time_ns": 1792831129729739782, + "as5600_init_end_time_ns": 1792831129730542080, + "as5600_zero_start_time_ns": 1792831129732243270, + "as5600_zero_end_time_ns": 1792831130537976854, + "camera_init_start_time_ns": 1792831130541414751, + "camera_init_end_time_ns": 1792831130543350904, + "camera_start_start_time_ns": 1792831130544716907, + "camera_start_end_time_ns": 1792831130546005762, + "camera_first_frame_wait_start_time_ns": 1792831130547306524, + "camera_first_frame_wait_end_time_ns": 1792831130548572990, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831130549695641, + "armed_time_ns": 1792831130677204191, + "waiting_t0_time_ns": 1792831130679961105, + "recording_start_time_ns": 1792831133136866824, + "stop_request_time_ns": 1792831142175171840, + "finalized_time_ns": 1792831143095221183 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831145801534877, + "ended_time_ns": 1792831145802742936, + "duration_s": 0.001208059, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831145801723470, + "ended_time_ns": 1792831145801935841, + "duration_s": 0.000212371, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831145801727730, + "ok": true, + "ended_time_ns": 1792831145801735822, + "duration_s": 8.092e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831145801737081, + "ok": true, + "ended_time_ns": 1792831145801739693, + "duration_s": 2.612e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831145801740193, + "ok": true, + "ended_time_ns": 1792831145801742841, + "duration_s": 2.648e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831145801743193, + "ok": true, + "ended_time_ns": 1792831145801925989, + "duration_s": 0.000182796 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831145801926952, + "ok": true, + "ended_time_ns": 1792831145801930323, + "duration_s": 3.371e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831145801930804, + "ok": true, + "ended_time_ns": 1792831145801933193, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831145801933563, + "ok": true, + "ended_time_ns": 1792831145801935452, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831145802600176, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831145401298517, + "frame_age_s": 0.401330381, + "heartbeat_age_s": 0.377779009, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145802633454, + "duration_s": 3.3278e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831145802635195, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.64526367470256, + "sample_observed_time_ns": 1792831145420808565, + "sample_age_s": 0.381833407, + "heartbeat_age_s": 0.377805083, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145802645658, + "duration_s": 1.0463e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831145802646787, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831145802649213, + "duration_s": 2.426e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831145802650250, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831145802741325, + "duration_s": 9.1075e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "8553b6d7f18849a780674aa5fcb4ad9b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2285, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831145925458215, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145920807537, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145934550441 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831145348314870, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10032, + "displayed_count": 9778, + "dropped_count": 253, + "decode_error_count": 0, + "last_receive_time_ns": 1792831145260824788, + "last_frame_time_ns": 1792831145233663852, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831145925458215, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145920807537, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145934550441 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + 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Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, 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measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 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+ "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1100e8313d9e4baf91d806755655c23e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2286, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831145925458215, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145920807537, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145934550441 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831145348314870, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10032, + "displayed_count": 9778, + "dropped_count": 253, + "decode_error_count": 0, + "last_receive_time_ns": 1792831145260824788, + "last_frame_time_ns": 1792831145233663852, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831145925458215, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831145920807537, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831145934550441 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831146186838866, + "ended_time_ns": 1792831146206640679 + }, + "pi_start_request_time_ns": 1792831146206647331, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831146209934475, + "capture_start_time_ns": 1792831149648086177, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831159332657276, + "capture_stop_time_ns": 1792831160192834022, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163906_00025", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1100e8313d9e4baf91d806755655c23e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831146209664256, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": 1792831149648086177, + "capture_stop_time_ns": 1792831160192834022, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "timing": { + "server_start_request_time_ns": 1792831146204176632, + "subprocess_popen_time_ns": 1792831146209664256, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831146245058805, + "validate_start_time_ns": 1792831147181205427, + "session_dir_create_start_time_ns": 1792831146245825696, + "session_dir_create_end_time_ns": 1792831146246757716, + "as5600_init_start_time_ns": 1792831146248280202, + "as5600_init_end_time_ns": 1792831146249313574, + "as5600_zero_start_time_ns": 1792831146251179727, + "as5600_zero_end_time_ns": 1792831147055890920, + "camera_init_start_time_ns": 1792831147057683832, + "camera_init_end_time_ns": 1792831147061881508, + "camera_start_start_time_ns": 1792831147063000141, + "camera_start_end_time_ns": 1792831147064589793, + "camera_first_frame_wait_start_time_ns": 1792831147066201371, + "camera_first_frame_wait_end_time_ns": 1792831147067769578, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147069214915, + "armed_time_ns": 1792831147180008702, + "waiting_t0_time_ns": 1792831147182659598, + "recording_start_time_ns": 1792831149649630582, + "stop_request_time_ns": 1792831159352168746, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146193165883, + "ended_time_ns": 1792831146193375661, + "duration_s": 0.000209778, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146193170512, + "ok": true, + "ended_time_ns": 1792831146193178772, + "duration_s": 8.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146193180327, + "ok": true, + "ended_time_ns": 1792831146193183216, + "duration_s": 2.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146193183698, + "ok": true, + "ended_time_ns": 1792831146193186586, + "duration_s": 2.888e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146193186938, + "ok": true, + "ended_time_ns": 1792831146193365605, + "duration_s": 0.000178667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146193366568, + "ok": true, + "ended_time_ns": 1792831146193369698, + "duration_s": 3.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146193370198, + "ok": true, + "ended_time_ns": 1792831146193372920, + "duration_s": 2.722e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146193373291, + "ok": true, + "ended_time_ns": 1792831146193375272, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1100e8313d9e4baf91d806755655c23e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2286, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143906066576, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831146225703758, + "capture_count": 628, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.64526367470256, + "gripper_gap_mm": 84.85724562742203, + "status_ok": true, + "queue_size": 600, + "queue_depth": 189, + "max_queue_depth": 189, + "read_count": 189, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831146237480398, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831146241679723 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831159333162120, + "ended_time_ns": 1792831159348772485, + "capture_stop_time_ns": 1792831160192834022, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163906_00025", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 227442 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 229837 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141758 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 230122 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 229772 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129753 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163906_00025", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1100e8313d9e4baf91d806755655c23e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831160205603829, + "ended_time_ns": 1792831160220526610, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": 1792831149648086177, + "capture_stop_time_ns": 1792831160192834022, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "timing": { + "server_start_request_time_ns": 1792831146204176632, + 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1792831146249313574, + "as5600_zero_start_time_ns": 1792831146251179727, + "as5600_zero_end_time_ns": 1792831147055890920, + "camera_init_start_time_ns": 1792831147057683832, + "camera_init_end_time_ns": 1792831147061881508, + "camera_start_start_time_ns": 1792831147063000141, + "camera_start_end_time_ns": 1792831147064589793, + "camera_first_frame_wait_start_time_ns": 1792831147066201371, + "camera_first_frame_wait_end_time_ns": 1792831147067769578, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147069214915, + "armed_time_ns": 1792831147180008702, + "waiting_t0_time_ns": 1792831147182659598, + "recording_start_time_ns": 1792831149649630582, + "stop_request_time_ns": 1792831159356155200, + "finalized_time_ns": 1792831160203130903 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146193165883, + "ended_time_ns": 1792831146193375661, + "duration_s": 0.000209778, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146193170512, + "ok": true, + "ended_time_ns": 1792831146193178772, + "duration_s": 8.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146193180327, + "ok": true, + "ended_time_ns": 1792831146193183216, + "duration_s": 2.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146193183698, + "ok": true, + "ended_time_ns": 1792831146193186586, + "duration_s": 2.888e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146193186938, + "ok": true, + "ended_time_ns": 1792831146193365605, + "duration_s": 0.000178667 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146193366568, + "ok": true, + "ended_time_ns": 1792831146193369698, + "duration_s": 3.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146193370198, + "ok": true, + "ended_time_ns": 1792831146193372920, + "duration_s": 2.722e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146193373291, + "ok": true, + "ended_time_ns": 1792831146193375272, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1100e8313d9e4baf91d806755655c23e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2286, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831160191962357, + "capture_count": 526, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 204, + "read_count": 1027, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831160204145405, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831160210907273 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831160097729554, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10158, + "displayed_count": 9897, + "dropped_count": 260, + "decode_error_count": 0, + "last_receive_time_ns": 1792831159996875717, + "last_frame_time_ns": 1792831160097037571, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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"read_count": 3025, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2370 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..82f9b0390acaf2db7570a302e7c3be9c615ce8a4 --- /dev/null +++ b/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831146171661254, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163906_00025", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163906_00025/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + 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true, + "ended_time_ns": 1792831145931330453, + "duration_s": 3.056e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831145931330990, + "ok": true, + "ended_time_ns": 1792831145931333971, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831145931334341, + "ok": true, + "ended_time_ns": 1792831145931563153, + "duration_s": 0.000228812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831145931564950, + "ok": true, + "ended_time_ns": 1792831145931569135, + "duration_s": 4.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831145931569857, + "ok": true, + "ended_time_ns": 1792831145931572875, + "duration_s": 3.018e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831145931573246, + "ok": true, + "ended_time_ns": 1792831145931575635, + "duration_s": 2.389e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831145932229034, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831145638535960, + "frame_age_s": 0.293723869, + "heartbeat_age_s": 0.292249278, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145932264107, + "duration_s": 3.5073e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831145932265718, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 274.306640625, + "sample_observed_time_ns": 1792831145630573489, + "sample_age_s": 0.301700007, + "heartbeat_age_s": 0.292275685, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831145932276922, + "duration_s": 1.1204e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831145932278218, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831145932280681, + "duration_s": 2.463e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831145932281774, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831145932399383, + "duration_s": 0.000117609 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 28, + "ready_token": "ca2bee98fdd249cd809b600f3827bd80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163849_00024.ready.json", + "arm_request_id": "a5813255f1d84fada1d5324e8797c461", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3113, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831146138947589, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 270, + "read_count": 2182, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831146130573031, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831146145129583 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831145590647489, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10349, + "displayed_count": 8221, + "dropped_count": 2126, + "decode_error_count": 0, + "last_receive_time_ns": 1792831145530133497, + "last_frame_time_ns": 1792831145453373995, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831146138947589, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 270, + "read_count": 2182, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831146130573031, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831146145129583 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146190021813, + "ended_time_ns": 1792831146197385546, + "duration_s": 0.000215775, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146188618796, + "ok": true, + "ended_time_ns": 1792831146188627277, + "duration_s": 8.481e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146188629184, + "ok": true, + "ended_time_ns": 1792831146188631870, + "duration_s": 2.686e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146188632370, + "ok": true, + "ended_time_ns": 1792831146188635221, + "duration_s": 2.851e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146188635592, + "ok": true, + "ended_time_ns": 1792831146188818978, + "duration_s": 0.000183386 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146188820293, + "ok": true, + "ended_time_ns": 1792831146188824034, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146188824497, + "ok": true, + "ended_time_ns": 1792831146188827441, + "duration_s": 2.944e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146188827774, + "ok": true, + "ended_time_ns": 1792831146188829960, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163906_00025", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1a3442eec2294e389dc77bc6520aa1e2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831146206590562, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "timing": { + "server_start_request_time_ns": 1792831146201541498, + "subprocess_popen_time_ns": 1792831146206590562, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146188614703, + "ended_time_ns": 1792831146188830478, + "duration_s": 0.000215775, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146188618796, + "ok": true, + "ended_time_ns": 1792831146188627277, + "duration_s": 8.481e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146188629184, + "ok": true, + "ended_time_ns": 1792831146188631870, + "duration_s": 2.686e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146188632370, + "ok": true, + "ended_time_ns": 1792831146188635221, + "duration_s": 2.851e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146188635592, + "ok": true, + "ended_time_ns": 1792831146188818978, + "duration_s": 0.000183386 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146188820293, + "ok": true, + "ended_time_ns": 1792831146188824034, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146188824497, + "ok": true, + "ended_time_ns": 1792831146188827441, + "duration_s": 2.944e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146188827774, + "ok": true, + "ended_time_ns": 1792831146188829960, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1a3442eec2294e389dc77bc6520aa1e2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3114, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831146138947589, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 270, + "read_count": 2182, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831146130573031, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831146145129583 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831145590647489, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10349, + "displayed_count": 8221, + "dropped_count": 2126, + "decode_error_count": 0, + "last_receive_time_ns": 1792831145530133497, + "last_frame_time_ns": 1792831145453373995, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163849_00024", + "generation": 28, + "session_count": 28, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831146138947589, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 270, + "read_count": 2182, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831146130573031, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831146145129583 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831146200602924, + "ended_time_ns": 1792831146223683365 + }, + "pi_start_request_time_ns": 1792831146223691572, + "capture_start_time_ns": 1792831149648086177, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831159333306862, + "capture_stop_time_ns": 1792831160192834022, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163906_00025", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1a3442eec2294e389dc77bc6520aa1e2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831146206590562, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": 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1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831146254387775, + "validate_start_time_ns": 1792831147174623395, + "session_dir_create_start_time_ns": 1792831146255167227, + "session_dir_create_end_time_ns": 1792831146256201473, + "as5600_init_start_time_ns": 1792831146257264330, + "as5600_init_end_time_ns": 1792831146258199762, + "as5600_zero_start_time_ns": 1792831146259643262, + "as5600_zero_end_time_ns": 1792831147066571576, + "camera_init_start_time_ns": 1792831147068830029, + "camera_init_end_time_ns": 1792831147072444963, + "camera_start_start_time_ns": 1792831147073411580, + "camera_start_end_time_ns": 1792831147075046040, + "camera_first_frame_wait_start_time_ns": 1792831147076978293, + "camera_first_frame_wait_end_time_ns": 1792831147078629438, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147080501192, + "armed_time_ns": 1792831147173662500, + "waiting_t0_time_ns": 1792831147176351039, + "recording_start_time_ns": 1792831149649128233, + "stop_request_time_ns": 1792831159334921823, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146188614703, + "ended_time_ns": 1792831146188830478, + "duration_s": 0.000215775, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146188618796, + "ok": true, + "ended_time_ns": 1792831146188627277, + "duration_s": 8.481e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146188629184, + "ok": true, + "ended_time_ns": 1792831146188631870, + "duration_s": 2.686e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146188632370, + "ok": true, + "ended_time_ns": 1792831146188635221, + "duration_s": 2.851e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146188635592, + "ok": true, + "ended_time_ns": 1792831146188818978, + "duration_s": 0.000183386 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146188820293, + "ok": true, + "ended_time_ns": 1792831146188824034, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146188824497, + "ok": true, + "ended_time_ns": 1792831146188827441, + "duration_s": 2.944e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146188827774, + "ok": true, + "ended_time_ns": 1792831146188829960, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1a3442eec2294e389dc77bc6520aa1e2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3114, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 28, + "last_bootstrap_time_ns": 1792831143104207380, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831146238040024, + "capture_count": 628, + "capture_error_count": 0, + "writer_count": 399, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.306640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 190, + "max_queue_depth": 270, + "read_count": 2189, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831146247240201, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831146251044318 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831159333741540, + "ended_time_ns": 1792831159355853238, + "capture_stop_time_ns": 1792831160192834022, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163906_00025", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1a3442eec2294e389dc77bc6520aa1e2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831160373244103, + "ended_time_ns": 1792831160385244595, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": 1792831149648086177, + "capture_stop_time_ns": 1792831160192834022, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "timing": { + "server_start_request_time_ns": 1792831146201541498, + "subprocess_popen_time_ns": 1792831146206590562, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831146254387775, + "validate_start_time_ns": 1792831147174623395, + "session_dir_create_start_time_ns": 1792831146255167227, + "session_dir_create_end_time_ns": 1792831146256201473, + "as5600_init_start_time_ns": 1792831146257264330, + "as5600_init_end_time_ns": 1792831146258199762, + "as5600_zero_start_time_ns": 1792831146259643262, + "as5600_zero_end_time_ns": 1792831147066571576, + "camera_init_start_time_ns": 1792831147068830029, + "camera_init_end_time_ns": 1792831147072444963, + "camera_start_start_time_ns": 1792831147073411580, + "camera_start_end_time_ns": 1792831147075046040, + "camera_first_frame_wait_start_time_ns": 1792831147076978293, + "camera_first_frame_wait_end_time_ns": 1792831147078629438, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147080501192, + "armed_time_ns": 1792831147173662500, + "waiting_t0_time_ns": 1792831147176351039, + "recording_start_time_ns": 1792831149649128233, + "stop_request_time_ns": 1792831159341800901, + "finalized_time_ns": 1792831160199953420 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146188614703, + "ended_time_ns": 1792831146188830478, + "duration_s": 0.000215775, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146188618796, + "ok": true, + "ended_time_ns": 1792831146188627277, + "duration_s": 8.481e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146188629184, + "ok": true, + "ended_time_ns": 1792831146188631870, + "duration_s": 2.686e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146188632370, + "ok": true, + "ended_time_ns": 1792831146188635221, + "duration_s": 2.851e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146188635592, + "ok": true, + "ended_time_ns": 1792831146188818978, + "duration_s": 0.000183386 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146188820293, + "ok": true, + "ended_time_ns": 1792831146188824034, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146188824497, + "ok": true, + "ended_time_ns": 1792831146188827441, + "duration_s": 2.944e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146188827774, + "ok": true, + "ended_time_ns": 1792831146188829960, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1a3442eec2294e389dc77bc6520aa1e2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3114, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831160206067100, + "capture_count": 525, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 270, + "read_count": 3026, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831160197253659, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831160209060135 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831159922381229, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10474, + "displayed_count": 8302, + "dropped_count": 2171, + "decode_error_count": 0, + "last_receive_time_ns": 1792831159872925242, + "last_frame_time_ns": 1792831159895136046, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831160206067100, + "capture_count": 525, + "capture_error_count": 0, + "writer_count": 421, + 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true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1100e8313d9e4baf91d806755655c23e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2286, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831163741396800, + "capture_count": 668, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 213, + "max_queue_depth": 213, + "read_count": 1239, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831163737535846, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831163752488919 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831163518366000, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10188, + "displayed_count": 9926, + "dropped_count": 261, + "decode_error_count": 0, + "last_receive_time_ns": 1792831163420343151, + "last_frame_time_ns": 1792831163401088882, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831163741396800, + "capture_count": 668, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 213, + "max_queue_depth": 213, + "read_count": 1239, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831163737535846, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831163752488919 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831164076282343, + "ended_time_ns": 1792831164085486948, + "duration_s": 0.001143188, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164094391323, + "ended_time_ns": 1792831164094599675, + "duration_s": 0.000208352, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164094395119, + "ok": true, + "ended_time_ns": 1792831164094402712, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164094403693, + "ok": true, + "ended_time_ns": 1792831164094406527, + "duration_s": 2.834e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164094406952, + "ok": true, + "ended_time_ns": 1792831164094409786, + "duration_s": 2.834e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164094410119, + "ok": true, + "ended_time_ns": 1792831164094588842, + "duration_s": 0.000178723 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164094590249, + "ok": true, + "ended_time_ns": 1792831164094593805, + "duration_s": 3.556e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164094594286, + "ok": true, + "ended_time_ns": 1792831164094596860, + "duration_s": 2.574e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164094597194, + "ok": true, + "ended_time_ns": 1792831164094599286, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831164095281455, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831163741396800, + "frame_age_s": 0.353915099, + "heartbeat_age_s": 0.342805128, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164095316325, + "duration_s": 3.487e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831164095318732, + "status_ok": true, + "gap_mm": 83.5894508899778, + "reference_angle_deg": 102.62512207261207, + "sample_observed_time_ns": 1792831163737535846, + "sample_age_s": 0.357790183, + "heartbeat_age_s": 0.342832425, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164095329899, + "duration_s": 1.1167e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831164095334603, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831164095447770, + "duration_s": 0.000113167 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831164085508197, + "ended_time_ns": 1792831164187296630, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163906_00025", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1a3442eec2294e389dc77bc6520aa1e2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831164187312158, + "ended_time_ns": 1792831164198146270, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": 1792831149648086177, + "capture_stop_time_ns": 1792831160192834022, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "timing": { + "server_start_request_time_ns": 1792831146201541498, + "subprocess_popen_time_ns": 1792831146206590562, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831146254387775, + "validate_start_time_ns": 1792831147174623395, + "session_dir_create_start_time_ns": 1792831146255167227, + "session_dir_create_end_time_ns": 1792831146256201473, + "as5600_init_start_time_ns": 1792831146257264330, + "as5600_init_end_time_ns": 1792831146258199762, + "as5600_zero_start_time_ns": 1792831146259643262, + "as5600_zero_end_time_ns": 1792831147066571576, + "camera_init_start_time_ns": 1792831147068830029, + "camera_init_end_time_ns": 1792831147072444963, + "camera_start_start_time_ns": 1792831147073411580, + "camera_start_end_time_ns": 1792831147075046040, + "camera_first_frame_wait_start_time_ns": 1792831147076978293, + "camera_first_frame_wait_end_time_ns": 1792831147078629438, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147080501192, + "armed_time_ns": 1792831147173662500, + "waiting_t0_time_ns": 1792831147176351039, + "recording_start_time_ns": 1792831149649128233, + "stop_request_time_ns": 1792831159341800901, + "finalized_time_ns": 1792831160199953420 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831146188614703, + "ended_time_ns": 1792831146188830478, + "duration_s": 0.000215775, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831146188618796, + "ok": true, + "ended_time_ns": 1792831146188627277, + "duration_s": 8.481e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831146188629184, + "ok": true, + "ended_time_ns": 1792831146188631870, + "duration_s": 2.686e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831146188632370, + "ok": true, + "ended_time_ns": 1792831146188635221, + "duration_s": 2.851e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831146188635592, + "ok": true, + "ended_time_ns": 1792831146188818978, + "duration_s": 0.000183386 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831146188820293, + "ok": true, + "ended_time_ns": 1792831146188824034, + "duration_s": 3.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831146188824497, + "ok": true, + "ended_time_ns": 1792831146188827441, + "duration_s": 2.944e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831146188827774, + "ok": true, + "ended_time_ns": 1792831146188829960, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1a3442eec2294e389dc77bc6520aa1e2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3114, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831163751836596, + "capture_count": 667, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 270, + "read_count": 3239, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831163747242064, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831163755400180 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831163119845361, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10501, + "displayed_count": 8324, + "dropped_count": 2176, + "decode_error_count": 0, + "last_receive_time_ns": 1792831163011772284, + "last_frame_time_ns": 1792831163048253754, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831163751836596, + "capture_count": 667, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 270, + "read_count": 3239, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831163747242064, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831163755400180 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831164228318718, + "ended_time_ns": 1792831164239927634, + "duration_s": 0.001076894, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164229004065, + "ended_time_ns": 1792831164229215525, + "duration_s": 0.00021146, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164229007213, + "ok": true, + "ended_time_ns": 1792831164229014713, + "duration_s": 7.5e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164229016102, + "ok": true, + "ended_time_ns": 1792831164229018676, + "duration_s": 2.574e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164229019157, + "ok": true, + "ended_time_ns": 1792831164229021787, + "duration_s": 2.63e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164229022139, + "ok": true, + "ended_time_ns": 1792831164229204081, + "duration_s": 0.000181942 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164229205136, + "ok": true, + "ended_time_ns": 1792831164229208821, + "duration_s": 3.685e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164229209321, + "ok": true, + "ended_time_ns": 1792831164229212655, + "duration_s": 3.334e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164229212988, + "ok": true, + "ended_time_ns": 1792831164229215044, + "duration_s": 2.056e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831164229829332, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831163751836596, + "frame_age_s": 0.478024069, + "heartbeat_age_s": 0.474442929, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164229865387, + "duration_s": 3.6055e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831164229867165, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 275.712890625, + "sample_observed_time_ns": 1792831163747242064, + "sample_age_s": 0.482632693, + "heartbeat_age_s": 0.474469707, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164229878202, + "duration_s": 1.1037e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831164229882998, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831164229990700, + "duration_s": 0.000107702 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831164239951516, + "ended_time_ns": 1792831164351070628, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831327815172632, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831323222541812, + "ended_time_ns": 1792831323236472143, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831323236548234, + "ended_time_ns": 1792831323292297377, + "transferred_bytes": 13709, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,709 bytes\nTotal transferred file size: 13,709 bytes\nLiteral data: 13,709 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,844\n\nsent 46 bytes received 13,844 bytes 27,780.00 bytes/sec\ntotal size is 13,709 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831323292895827, + "ended_time_ns": 1792831327813578733, + "transferred_bytes": 10826871, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 10,826,871 bytes\nTotal transferred file size: 10,826,871 bytes\nLiteral data: 10,826,871 bytes\nMatched data: 0 bytes\nFile list size: 225\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 10,829,922\n\nsent 168 bytes received 10,829,922 bytes 2,406,686.67 bytes/sec\ntotal size is 10,826,871 speedup is 1.00" + } + ], + "transferred_bytes": 10840580, + "copied_local_bytes": 11382108, + "started_time_ns": 1792831323221287472, + "ended_time_ns": 1792831327814136857 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831323221752576, + "ended_time_ns": 1792831323234724943, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831323234814499, + "ended_time_ns": 1792831323290518960, + "transferred_bytes": 13722, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,722 bytes\nTotal transferred file size: 13,722 bytes\nLiteral data: 13,722 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,857\n\nsent 46 bytes received 13,857 bytes 27,806.00 bytes/sec\ntotal size is 13,722 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831323291070140, + "ended_time_ns": 1792831324015176704, + "transferred_bytes": 13908533, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,908,533 bytes\nTotal transferred file size: 13,908,533 bytes\nLiteral data: 13,908,533 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,912,323\n\nsent 168 bytes received 13,912,323 bytes 9,274,994.00 bytes/sec\ntotal size is 13,908,533 speedup is 1.00" + } + ], + "transferred_bytes": 13922255, + "copied_local_bytes": 14445422, + "started_time_ns": 1792831323221491533, + "ended_time_ns": 1792831324015754326 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163924_00026", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832831789201047, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832831384738033, + "ended_time_ns": 1792832831788858648, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832831384738033, + "ended_time_ns": 1792832831581053180, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163924_00026", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163924_00026 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163924_00026\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831167970406619\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831167970406619，vive_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831176096565024，vive_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005252s，first=1792831167975658825，T0=1792831167970406619，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001102s，last=1792831176095463067，Tstop=1792831176096565024，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1625\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0048217418589 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0048217418589 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1625，metadata 1625\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0048241580927 Hz，最低 150.0 Hz，时长 8.11980414390564 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0048241580927 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005961894989013672s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992774733..1.0000000006536085，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0041915506315640515m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.255398916613432deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=325 duration=8.125s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=325，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 325，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=324，rows=325，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=325，monotonic违规=0，估算频率=40.01778115504575Hz，最大间隔=0.032613209s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 325，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0177828009526 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0177828009526 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032612857s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 488，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 16.1108..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 488，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99992920254757 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99992920254757 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019239417s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=488，bad_rows=0，monotonic违规=0，估算频率=59.99992537339877Hz，最大间隔=0.019238288s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 325，metadata 325\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 488，metadata 488\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 325，timestamps 325，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=325，timestamps=325，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=8.125s，timestamps=8.096400583s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.020s，camera=8.096400583s，clamp=8.116676244000004s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831167970406619，pi_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831176096565024，pi_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.016393s，first=1792831167986800005，T0=1792831167970406619，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.000400s，first=1792831167970806577，T0=1792831167970406619，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013364s，last=1792831176083200588，Tstop=1792831176096565024，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009082s，last=1792831176087482821，Tstop=1792831176096565024，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.023404s，vive=8.119804242s，camera=8.096400583s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003128s，vive=8.119804242s，clamp=8.116676244000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.011141s，vive_first=1792831167975658825，camera_first=1792831167986800005，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004852s，vive_first=1792831167975658825，clamp_first=1792831167970806577，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.012262s，vive_last=1792831176095463067，camera_last=1792831176083200588，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.007980s，vive_last=1792831176095463067，clamp_last=1792831176087482821，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832831581340165, + "ended_time_ns": 1792832831788858648, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163924_00026", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163924_00026 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163924_00026\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831167970406619\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831167970406619，vive_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831176096565024，vive_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005252s，first=1792831167975658825，T0=1792831167970406619，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001102s，last=1792831176095463067，Tstop=1792831176096565024，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1625\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0048217418589 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0048217418589 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1625，metadata 1625\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0048241580927 Hz，最低 150.0 Hz，时长 8.11980414390564 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0048241580927 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005961894989013672s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994021301..1.0000000005683942，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0027333560372505613m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.7263546920511198deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=326 duration=8.15s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=326，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 326，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=325，rows=326，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=326，monotonic违规=0，估算频率=40.01567995088223Hz，最大间隔=0.032921869s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 326，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.01568159647938 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01568159647938 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032921054s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 487，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 41.0748..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 487，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.002867144409485 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.002867144409485 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018893773s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=487，bad_rows=0，monotonic违规=0，估算频率=60.00285480249182Hz，最大间隔=0.018892439s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 326，metadata 326\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 487，metadata 487\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 326，timestamps 326，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=326，timestamps=326，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=8.15s，timestamps=8.121815924s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.022s，camera=8.121815924s，clamp=8.099612954s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831167970406619，pi_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831176096565024，pi_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.003609s，first=1792831167974015492，T0=1792831167970406619，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.010581s，first=1792831167980987697，T0=1792831167970406619，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000734s，last=1792831176095831416，Tstop=1792831176096565024，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015964s，last=1792831176080600651，Tstop=1792831176096565024，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.002012s，vive=8.119804242s，camera=8.121815924s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.020191s，vive=8.119804242s，clamp=8.099612954s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.001643s，vive_first=1792831167975658825，camera_first=1792831167974015492，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005329s，vive_first=1792831167975658825，clamp_first=1792831167980987697，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.000368s，vive_last=1792831176095463067，camera_last=1792831176095831416，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.014862s，vive_last=1792831176095463067，clamp_last=1792831176080600651，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163924_00026\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831167970406619\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831167970406619，vive_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831176096565024，vive_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005252s，first=1792831167975658825，T0=1792831167970406619，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001102s，last=1792831176095463067，Tstop=1792831176096565024，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1625\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0048217418589 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0048217418589 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1625，metadata 1625\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0048241580927 Hz，最低 150.0 Hz，时长 8.11980414390564 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0048241580927 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005961894989013672s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999992774733..1.0000000006536085，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0041915506315640515m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.255398916613432deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=325 duration=8.125s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=325，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 325，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=324，rows=325，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=325，monotonic违规=0，估算频率=40.01778115504575Hz，最大间隔=0.032613209s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 325，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0177828009526 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0177828009526 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032612857s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 488，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 16.1108..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 488，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99992920254757 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99992920254757 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019239417s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=488，bad_rows=0，monotonic违规=0，估算频率=59.99992537339877Hz，最大间隔=0.019238288s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 325，metadata 325\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 488，metadata 488\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 325，timestamps 325，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=325，timestamps=325，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=8.125s，timestamps=8.096400583s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.020s，camera=8.096400583s，clamp=8.116676244000004s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831167970406619，pi_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831176096565024，pi_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.016393s，first=1792831167986800005，T0=1792831167970406619，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.000400s，first=1792831167970806577，T0=1792831167970406619，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013364s，last=1792831176083200588，Tstop=1792831176096565024，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009082s，last=1792831176087482821，Tstop=1792831176096565024，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.023404s，vive=8.119804242s，camera=8.096400583s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003128s，vive=8.119804242s，clamp=8.116676244000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.011141s，vive_first=1792831167975658825，camera_first=1792831167986800005，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004852s，vive_first=1792831167975658825，clamp_first=1792831167970806577，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.012262s，vive_last=1792831176095463067，camera_last=1792831176083200588，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.007980s，vive_last=1792831176095463067，clamp_last=1792831176087482821，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163924_00026\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831167970406619\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831167970406619，vive_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831176096565024，vive_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005252s，first=1792831167975658825，T0=1792831167970406619，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001102s，last=1792831176095463067，Tstop=1792831176096565024，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1625\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0048217418589 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0048217418589 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1625，metadata 1625\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0048241580927 Hz，最低 150.0 Hz，时长 8.11980414390564 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0048241580927 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005961894989013672s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994021301..1.0000000005683942，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0027333560372505613m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.7263546920511198deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=326 duration=8.15s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=326，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 326，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=325，rows=326，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=326，monotonic违规=0，估算频率=40.01567995088223Hz，最大间隔=0.032921869s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 326，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.01568159647938 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01568159647938 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032921054s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 487，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 41.0748..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 487，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.002867144409485 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.002867144409485 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018893773s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=487，bad_rows=0，monotonic违规=0，估算频率=60.00285480249182Hz，最大间隔=0.018892439s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 326，metadata 326\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 487，metadata 487\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 326，timestamps 326，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=326，timestamps=326，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=8.15s，timestamps=8.121815924s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.022s，camera=8.121815924s，clamp=8.099612954s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831167970406619，pi_T0=1792831167970406619，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831176096565024，pi_Tstop=1792831176096565024，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.003609s，first=1792831167974015492，T0=1792831167970406619，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.010581s，first=1792831167980987697，T0=1792831167970406619，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000734s，last=1792831176095831416，Tstop=1792831176096565024，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015964s，last=1792831176080600651，Tstop=1792831176096565024，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.002012s，vive=8.119804242s，camera=8.121815924s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.020191s，vive=8.119804242s，clamp=8.099612954s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.001643s，vive_first=1792831167975658825，camera_first=1792831167974015492，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005329s，vive_first=1792831167975658825，clamp_first=1792831167980987697，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.000368s，vive_last=1792831176095463067，camera_last=1792831176095831416，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.014862s，vive_last=1792831176095463067，clamp_last=1792831176080600651，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163924_00026_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812796407375 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163924_00026/control/stop_left_hand.flag b/opening and closing/session_20261024_163924_00026/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..7525b414147f51e2b3a31865388872e29b9dc8b7 --- /dev/null +++ b/opening and closing/session_20261024_163924_00026/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831176096565024 \ No newline at end of file diff --git a/opening and closing/session_20261024_163924_00026/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163924_00026/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..8e54dee15aba0e9c87dfc667822063fc8ccf6d51 --- /dev/null +++ b/opening 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和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 101.87072753729528, + "reference_source": "max_open_init", + "zero_angle_deg": 101.87072753729528, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 7e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831167972700193, + "camera_frame_count": 325, + "camera_started_time_ns": 1792831165387109403, + "camera_stopped_time_ns": 1792831176100970872, + "camera_actual_fps": 30.334534466435898, + "camera_first_frame_time_ns": 1792831167986800005, + "camera_last_frame_time_ns": 1792831176083200588, + "camera_frame_timestamp_fps": 40.0177828009526, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831176083200588, + "capture_count": 429, + "capture_error_count": 0, + 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"main_loop_iterations": 1914 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3d82854b39689a5843690b851d1ee4e8d918d133 --- /dev/null +++ b/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831164455559761, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163924_00026", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": 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"pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": 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"max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163906_00025", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1100e8313d9e4baf91d806755655c23e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831164456115741, + "ended_time_ns": 1792831164478850256, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": 1792831149648086177, + "capture_stop_time_ns": 1792831160192834022, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/left_hand", + "timing": { + "server_start_request_time_ns": 1792831146204176632, + "subprocess_popen_time_ns": 1792831146209664256, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831146245058805, + "validate_start_time_ns": 1792831147181205427, + "session_dir_create_start_time_ns": 1792831146245825696, + "session_dir_create_end_time_ns": 1792831146246757716, + "as5600_init_start_time_ns": 1792831146248280202, + "as5600_init_end_time_ns": 1792831146249313574, + "as5600_zero_start_time_ns": 1792831146251179727, + "as5600_zero_end_time_ns": 1792831147055890920, + "camera_init_start_time_ns": 1792831147057683832, + "camera_init_end_time_ns": 1792831147061881508, + "camera_start_start_time_ns": 1792831147063000141, + "camera_start_end_time_ns": 1792831147064589793, + "camera_first_frame_wait_start_time_ns": 1792831147066201371, + "camera_first_frame_wait_end_time_ns": 1792831147067769578, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147069214915, + "armed_time_ns": 1792831147180008702, + "waiting_t0_time_ns": 1792831147182659598, + "recording_start_time_ns": 1792831149649630582, + "stop_request_time_ns": 1792831159356155200, + "finalized_time_ns": 1792831160203130903 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831164094306193, + "ended_time_ns": 1792831164095449381, + "duration_s": 0.001143188, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164094391323, + "ended_time_ns": 1792831164094599675, + "duration_s": 0.000208352, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164094395119, + "ok": true, + "ended_time_ns": 1792831164094402712, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164094403693, + "ok": true, + "ended_time_ns": 1792831164094406527, + "duration_s": 2.834e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164094406952, + "ok": true, + "ended_time_ns": 1792831164094409786, + "duration_s": 2.834e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164094410119, + "ok": true, + "ended_time_ns": 1792831164094588842, + "duration_s": 0.000178723 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164094590249, + "ok": true, + "ended_time_ns": 1792831164094593805, + "duration_s": 3.556e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164094594286, + "ok": true, + "ended_time_ns": 1792831164094596860, + "duration_s": 2.574e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164094597194, + "ok": true, + "ended_time_ns": 1792831164094599286, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831164095281455, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831163741396800, + "frame_age_s": 0.353915099, + "heartbeat_age_s": 0.342805128, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164095316325, + "duration_s": 3.487e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831164095318732, + "status_ok": true, + "gap_mm": 83.5894508899778, + "reference_angle_deg": 102.62512207261207, + "sample_observed_time_ns": 1792831163737535846, + "sample_age_s": 0.357790183, + "heartbeat_age_s": 0.342832425, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164095329899, + "duration_s": 1.1167e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831164095331047, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831164095333603, + "duration_s": 2.556e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831164095334603, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831164095447770, + "duration_s": 0.000113167 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1100e8313d9e4baf91d806755655c23e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2286, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831164241429717, + "capture_count": 688, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 244, + "read_count": 1270, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164254141525, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164259375927 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831163518366000, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10188, + "displayed_count": 9926, + "dropped_count": 261, + "decode_error_count": 0, + "last_receive_time_ns": 1792831163420343151, + "last_frame_time_ns": 1792831163401088882, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831164241429717, + "capture_count": 688, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 244, + "read_count": 1270, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164254141525, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164259375927 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, 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"expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", 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"poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "f896348d763e4a7089ed3478e0fa1a60", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2287, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831164241429717, + "capture_count": 688, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 244, + "read_count": 1270, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164254141525, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164259375927 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831163518366000, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10188, + "displayed_count": 9926, + "dropped_count": 261, + "decode_error_count": 0, + "last_receive_time_ns": 1792831163420343151, + "last_frame_time_ns": 1792831163401088882, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831164241429717, + "capture_count": 688, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 244, + "read_count": 1270, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164254141525, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164259375927 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831164496891771, + "ended_time_ns": 1792831164521075871 + }, + "pi_start_request_time_ns": 1792831164521083179, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831164524471654, + "capture_start_time_ns": 1792831167970406619, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831175186287653, + "capture_stop_time_ns": 1792831176096565024, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163924_00026", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "f896348d763e4a7089ed3478e0fa1a60", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831164524201680, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "timing": { + "server_start_request_time_ns": 1792831164517962795, + "subprocess_popen_time_ns": 1792831164524201680, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831164570479644, + "validate_start_time_ns": 1792831165508237030, + "session_dir_create_start_time_ns": 1792831164573818264, + "session_dir_create_end_time_ns": 1792831164574856470, + "as5600_init_start_time_ns": 1792831164575926380, + "as5600_init_end_time_ns": 1792831164576748289, + "as5600_zero_start_time_ns": 1792831164578046533, + "as5600_zero_end_time_ns": 1792831165383567802, + "camera_init_start_time_ns": 1792831165385049787, + "camera_init_end_time_ns": 1792831165387115088, + "camera_start_start_time_ns": 1792831165391700099, + "camera_start_end_time_ns": 1792831165393640271, + "camera_first_frame_wait_start_time_ns": 1792831165395038515, + "camera_first_frame_wait_end_time_ns": 1792831165396377722, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831165397615984, + "armed_time_ns": 1792831165506204655, + "waiting_t0_time_ns": 1792831165510056164, + "recording_start_time_ns": 1792831167972716304, + "stop_request_time_ns": 1792831175205034032, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164502562443, + "ended_time_ns": 1792831164502771702, + "duration_s": 0.000209259, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164502566443, + "ok": true, + "ended_time_ns": 1792831164502574313, + "duration_s": 7.87e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164502576146, + "ok": true, + "ended_time_ns": 1792831164502578591, + "duration_s": 2.445e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164502579054, + "ok": true, + "ended_time_ns": 1792831164502581850, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164502582183, + "ok": true, + "ended_time_ns": 1792831164502760999, + "duration_s": 0.000178816 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164502762425, + "ok": true, + "ended_time_ns": 1792831164502765850, + "duration_s": 3.425e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164502766350, + "ok": true, + "ended_time_ns": 1792831164502769110, + "duration_s": 2.76e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164502769462, + "ok": true, + "ended_time_ns": 1792831164502771295, + "duration_s": 1.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "f896348d763e4a7089ed3478e0fa1a60", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2287, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160206763819, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831164563650554, + "capture_count": 701, + "capture_error_count": 0, + "writer_count": 423, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.62512207261207, + "gripper_gap_mm": 83.5894508899778, + "status_ok": true, + "queue_size": 600, + "queue_depth": 262, + "max_queue_depth": 262, + "read_count": 1288, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164554149031, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164567060210 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831175187851114, + "ended_time_ns": 1792831175199542728, + "capture_stop_time_ns": 1792831176096565024, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163924_00026", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 177653 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 176861 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141822 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 176516 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 177125 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129747 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163924_00026", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "f896348d763e4a7089ed3478e0fa1a60", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831176146813521, + "ended_time_ns": 1792831176158743752, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/left_hand", + "timing": { + "server_start_request_time_ns": 1792831164517962795, + "subprocess_popen_time_ns": 1792831164524201680, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831164570479644, + "validate_start_time_ns": 1792831165508237030, + "session_dir_create_start_time_ns": 1792831164573818264, + "session_dir_create_end_time_ns": 1792831164574856470, + "as5600_init_start_time_ns": 1792831164575926380, + "as5600_init_end_time_ns": 1792831164576748289, + "as5600_zero_start_time_ns": 1792831164578046533, + "as5600_zero_end_time_ns": 1792831165383567802, + "camera_init_start_time_ns": 1792831165385049787, + "camera_init_end_time_ns": 1792831165387115088, + "camera_start_start_time_ns": 1792831165391700099, + "camera_start_end_time_ns": 1792831165393640271, + "camera_first_frame_wait_start_time_ns": 1792831165395038515, + "camera_first_frame_wait_end_time_ns": 1792831165396377722, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831165397615984, + "armed_time_ns": 1792831165506204655, + "waiting_t0_time_ns": 1792831165510056164, + "recording_start_time_ns": 1792831167972716304, + "stop_request_time_ns": 1792831175206346406, + "finalized_time_ns": 1792831176102421653 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164502562443, + "ended_time_ns": 1792831164502771702, + "duration_s": 0.000209259, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164502566443, + "ok": true, + "ended_time_ns": 1792831164502574313, + "duration_s": 7.87e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164502576146, + "ok": true, + "ended_time_ns": 1792831164502578591, + "duration_s": 2.445e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164502579054, + "ok": true, + "ended_time_ns": 1792831164502581850, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164502582183, + "ok": true, + "ended_time_ns": 1792831164502760999, + "duration_s": 0.000178816 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164502762425, + "ok": true, + "ended_time_ns": 1792831164502765850, + "duration_s": 3.425e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164502766350, + "ok": true, + "ended_time_ns": 1792831164502769110, + "duration_s": 2.76e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164502769462, + "ok": true, + "ended_time_ns": 1792831164502771295, + "duration_s": 1.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "f896348d763e4a7089ed3478e0fa1a60", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2287, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176106329459, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831176108742428, + "capture_count": 430, + "capture_error_count": 0, + "writer_count": 325, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 84.98980326275687, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 263, + "read_count": 1981, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831176104243028, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831176109947172 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + 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"waiting_t0_time_ns": 1792831165502277710, + "recording_start_time_ns": 1792831167970894421, + "stop_request_time_ns": 1792831175271214665, + "finalized_time_ns": 1792831176110063769 + }, + "last_error": null, + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "effective_capture_stop_time_ns": 1792831176096565024, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_163924_00026", + "control_generation": 30, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 277.03125, + "reference_source": "max_open_init", + "zero_angle_deg": 277.03125, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.37e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831167970870755, + "camera_frame_count": 326, + "camera_started_time_ns": 1792831165337970474, + "camera_stopped_time_ns": 1792831176108872710, + "camera_actual_fps": 30.26673094389416, + "camera_first_frame_time_ns": 1792831167974015492, + "camera_last_frame_time_ns": 1792831176095831416, + "camera_frame_timestamp_fps": 40.01568159647938, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831176095831416, + "capture_count": 431, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 487, + "clamp_first_sample_time_ns": 1792831167980987697, + "clamp_last_sample_time_ns": 1792831176080600651, + "clamp_actual_hz": 60.002867144409485, + "clamp_value_min": 41.074835939376726, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 270, + "read_count": 3980, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1913 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..63a4755c975e71b960d21cbc31d3a122b5ec0d41 --- /dev/null +++ b/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831164455581655, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163924_00026", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163924_00026/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + 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65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163906_00025", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163906_00025", + "--control-generation", + "29", + "--ready-token", + "1a3442eec2294e389dc77bc6520aa1e2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831164456081713, + "ended_time_ns": 1792831164474463713, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.diagnostics.json", + "capture_start_time_ns": 1792831149648086177, + "capture_stop_time_ns": 1792831160192834022, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163906_00025/right_hand", + "timing": { + "server_start_request_time_ns": 1792831146201541498, + "subprocess_popen_time_ns": 1792831146206590562, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831146254387775, + "validate_start_time_ns": 1792831147174623395, + "session_dir_create_start_time_ns": 1792831146255167227, + "session_dir_create_end_time_ns": 1792831146256201473, + "as5600_init_start_time_ns": 1792831146257264330, + "as5600_init_end_time_ns": 1792831146258199762, + "as5600_zero_start_time_ns": 1792831146259643262, + "as5600_zero_end_time_ns": 1792831147066571576, + "camera_init_start_time_ns": 1792831147068830029, + "camera_init_end_time_ns": 1792831147072444963, + "camera_start_start_time_ns": 1792831147073411580, + "camera_start_end_time_ns": 1792831147075046040, + "camera_first_frame_wait_start_time_ns": 1792831147076978293, + "camera_first_frame_wait_end_time_ns": 1792831147078629438, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831147080501192, + "armed_time_ns": 1792831147173662500, + "waiting_t0_time_ns": 1792831147176351039, + "recording_start_time_ns": 1792831149649128233, + "stop_request_time_ns": 1792831159341800901, + "finalized_time_ns": 1792831160199953420 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831164228915362, + "ended_time_ns": 1792831164229992256, + "duration_s": 0.001076894, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164229004065, + "ended_time_ns": 1792831164229215525, + "duration_s": 0.00021146, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164229007213, + "ok": true, + "ended_time_ns": 1792831164229014713, + "duration_s": 7.5e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164229016102, + "ok": true, + "ended_time_ns": 1792831164229018676, + "duration_s": 2.574e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164229019157, + "ok": true, + "ended_time_ns": 1792831164229021787, + "duration_s": 2.63e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164229022139, + "ok": true, + "ended_time_ns": 1792831164229204081, + "duration_s": 0.000181942 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164229205136, + "ok": true, + "ended_time_ns": 1792831164229208821, + "duration_s": 3.685e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164229209321, + "ok": true, + "ended_time_ns": 1792831164229212655, + "duration_s": 3.334e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164229212988, + "ok": true, + "ended_time_ns": 1792831164229215044, + "duration_s": 2.056e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831164229829332, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831163751836596, + "frame_age_s": 0.478024069, + "heartbeat_age_s": 0.474442929, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164229865387, + "duration_s": 3.6055e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831164229867165, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 275.712890625, + "sample_observed_time_ns": 1792831163747242064, + "sample_age_s": 0.482632693, + "heartbeat_age_s": 0.474469707, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831164229878202, + "duration_s": 1.1037e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831164229879368, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831164229881813, + "duration_s": 2.445e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831164229882998, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831164229990700, + "duration_s": 0.000107702 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 29, + "ready_token": "1a3442eec2294e389dc77bc6520aa1e2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163906_00025.ready.json", + "arm_request_id": "d3bd525774f64c79a03e607b87384cc5", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3114, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831164251902915, + "capture_count": 687, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 270, + "read_count": 3269, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164247243420, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164261976988 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831164214474920, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10511, + "displayed_count": 8332, + "dropped_count": 2178, + "decode_error_count": 0, + "last_receive_time_ns": 1792831164136498192, + "last_frame_time_ns": 1792831164139043530, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831164251902915, + "capture_count": 687, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 270, + "read_count": 3269, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164247243420, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164261976988 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164477422231, + "ended_time_ns": 1792831164487597988, + "duration_s": 0.000206127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164477505818, + "ok": true, + "ended_time_ns": 1792831164477513226, + "duration_s": 7.408e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164477515133, + "ok": true, + "ended_time_ns": 1792831164477517855, + "duration_s": 2.722e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164477518355, + "ok": true, + "ended_time_ns": 1792831164477521151, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164477521522, + "ok": true, + "ended_time_ns": 1792831164477696945, + "duration_s": 0.000175423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164477697964, + "ok": true, + "ended_time_ns": 1792831164477701612, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164477702168, + "ok": true, + "ended_time_ns": 1792831164477705038, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164477705464, + "ok": true, + "ended_time_ns": 1792831164477707519, + "duration_s": 2.055e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163924_00026", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "50fdb681fddb4907a06cac654912d65c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831164495716026, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "timing": { + "server_start_request_time_ns": 1792831164490865534, + "subprocess_popen_time_ns": 1792831164495716026, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164477501855, + "ended_time_ns": 1792831164477707982, + "duration_s": 0.000206127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164477505818, + "ok": true, + "ended_time_ns": 1792831164477513226, + "duration_s": 7.408e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164477515133, + "ok": true, + "ended_time_ns": 1792831164477517855, + "duration_s": 2.722e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164477518355, + "ok": true, + "ended_time_ns": 1792831164477521151, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164477521522, + "ok": true, + "ended_time_ns": 1792831164477696945, + "duration_s": 0.000175423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164477697964, + "ok": true, + "ended_time_ns": 1792831164477701612, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164477702168, + "ok": true, + "ended_time_ns": 1792831164477705038, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164477705464, + "ok": true, + "ended_time_ns": 1792831164477707519, + "duration_s": 2.055e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "50fdb681fddb4907a06cac654912d65c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3115, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831164251902915, + "capture_count": 687, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 270, + "read_count": 3269, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164247243420, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164261976988 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831164214474920, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10511, + "displayed_count": 8332, + "dropped_count": 2178, + "decode_error_count": 0, + "last_receive_time_ns": 1792831164136498192, + "last_frame_time_ns": 1792831164139043530, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163906_00025", + "generation": 29, + "session_count": 29, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831164251902915, + "capture_count": 687, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 270, + "read_count": 3269, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164247243420, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164261976988 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831164490907867, + "ended_time_ns": 1792831164510770572 + }, + "pi_start_request_time_ns": 1792831164510776964, + "capture_start_time_ns": 1792831167970406619, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831175268827591, + "capture_stop_time_ns": 1792831176096565024, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163924_00026", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "50fdb681fddb4907a06cac654912d65c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831164495716026, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "timing": { + "server_start_request_time_ns": 1792831164490865534, + "subprocess_popen_time_ns": 1792831164495716026, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831164521620264, + "validate_start_time_ns": 1792831165499227824, + "session_dir_create_start_time_ns": 1792831164522373587, + "session_dir_create_end_time_ns": 1792831164523480166, + "as5600_init_start_time_ns": 1792831164524853777, + "as5600_init_end_time_ns": 1792831164527302153, + "as5600_zero_start_time_ns": 1792831164529004168, + "as5600_zero_end_time_ns": 1792831165334012600, + "camera_init_start_time_ns": 1792831165335744762, + "camera_init_end_time_ns": 1792831165337976011, + "camera_start_start_time_ns": 1792831165339221069, + "camera_start_end_time_ns": 1792831165340941362, + "camera_first_frame_wait_start_time_ns": 1792831165342686061, + "camera_first_frame_wait_end_time_ns": 1792831165344365243, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831165345903964, + "armed_time_ns": 1792831165496319732, + "waiting_t0_time_ns": 1792831165502277710, + "recording_start_time_ns": 1792831167970894421, + "stop_request_time_ns": 1792831175267377048, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164477501855, + "ended_time_ns": 1792831164477707982, + "duration_s": 0.000206127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164477505818, + "ok": true, + "ended_time_ns": 1792831164477513226, + "duration_s": 7.408e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164477515133, + "ok": true, + "ended_time_ns": 1792831164477517855, + "duration_s": 2.722e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164477518355, + "ok": true, + "ended_time_ns": 1792831164477521151, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164477521522, + "ok": true, + "ended_time_ns": 1792831164477696945, + "duration_s": 0.000175423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164477697964, + "ok": true, + "ended_time_ns": 1792831164477701612, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164477702168, + "ok": true, + "ended_time_ns": 1792831164477705038, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164477705464, + "ok": true, + "ended_time_ns": 1792831164477707519, + "duration_s": 2.055e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "50fdb681fddb4907a06cac654912d65c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3115, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 29, + "last_bootstrap_time_ns": 1792831160203151304, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831164502229997, + "capture_count": 697, + "capture_error_count": 0, + "writer_count": 421, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.712890625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 260, + "max_queue_depth": 270, + "read_count": 3285, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831164513911327, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831164518475360 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831175269252957, + "ended_time_ns": 1792831175284213970, + "capture_stop_time_ns": 1792831176096565024, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163924_00026", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "50fdb681fddb4907a06cac654912d65c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831177313384465, + "ended_time_ns": 1792831177325414535, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "timing": { + "server_start_request_time_ns": 1792831164490865534, + "subprocess_popen_time_ns": 1792831164495716026, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831164521620264, + "validate_start_time_ns": 1792831165499227824, + "session_dir_create_start_time_ns": 1792831164522373587, + "session_dir_create_end_time_ns": 1792831164523480166, + "as5600_init_start_time_ns": 1792831164524853777, + "as5600_init_end_time_ns": 1792831164527302153, + "as5600_zero_start_time_ns": 1792831164529004168, + "as5600_zero_end_time_ns": 1792831165334012600, + "camera_init_start_time_ns": 1792831165335744762, + "camera_init_end_time_ns": 1792831165337976011, + "camera_start_start_time_ns": 1792831165339221069, + "camera_start_end_time_ns": 1792831165340941362, + "camera_first_frame_wait_start_time_ns": 1792831165342686061, + "camera_first_frame_wait_end_time_ns": 1792831165344365243, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831165345903964, + "armed_time_ns": 1792831165496319732, + "waiting_t0_time_ns": 1792831165502277710, + "recording_start_time_ns": 1792831167970894421, + "stop_request_time_ns": 1792831175271214665, + "finalized_time_ns": 1792831176110063769 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164477501855, + "ended_time_ns": 1792831164477707982, + "duration_s": 0.000206127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164477505818, + "ok": true, + "ended_time_ns": 1792831164477513226, + "duration_s": 7.408e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164477515133, + "ok": true, + "ended_time_ns": 1792831164477517855, + "duration_s": 2.722e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164477518355, + "ok": true, + "ended_time_ns": 1792831164477521151, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164477521522, + "ok": true, + "ended_time_ns": 1792831164477696945, + "duration_s": 0.000175423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164477697964, + "ok": true, + "ended_time_ns": 1792831164477701612, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164477702168, + "ok": true, + "ended_time_ns": 1792831164477705038, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164477705464, + "ok": true, + "ended_time_ns": 1792831164477707519, + "duration_s": 2.055e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "50fdb681fddb4907a06cac654912d65c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3115, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831176920507204, + "capture_count": 464, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831176916325406, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831176923467851 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831176938483452, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10622, + "displayed_count": 8404, + "dropped_count": 2216, + "decode_error_count": 0, + "last_receive_time_ns": 1792831176909180184, + "last_frame_time_ns": 1792831176839199279, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": 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"RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "f896348d763e4a7089ed3478e0fa1a60", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2287, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176106329459, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831180179271098, + "capture_count": 593, + "capture_error_count": 0, + "writer_count": 325, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 246, + "max_queue_depth": 263, + "read_count": 2226, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180187481433, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180190760237 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831180242184843, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10331, + "displayed_count": 10063, + "dropped_count": 267, + "decode_error_count": 0, + "last_receive_time_ns": 1792831180166216085, + "last_frame_time_ns": 1792831180137685979, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176106329459, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831180179271098, + "capture_count": 593, + "capture_error_count": 0, + "writer_count": 325, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 246, + "max_queue_depth": 263, + "read_count": 2226, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180187481433, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180190760237 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831180721040965, + "ended_time_ns": 1792831180732175150, + "duration_s": 0.001029577, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831180740603589, + "ended_time_ns": 1792831180740805386, + "duration_s": 0.000201797, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831180740607478, + "ok": true, + "ended_time_ns": 1792831180740615108, + "duration_s": 7.63e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831180740616126, + "ok": true, + "ended_time_ns": 1792831180740618719, + "duration_s": 2.593e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831180740619126, + "ok": true, + "ended_time_ns": 1792831180740622237, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831180740622608, + "ok": true, + "ended_time_ns": 1792831180740795460, + "duration_s": 0.000172852 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831180740796460, + "ok": true, + "ended_time_ns": 1792831180740799516, + "duration_s": 3.056e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831180740799979, + "ok": true, + "ended_time_ns": 1792831180740802590, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831180740802941, + "ok": true, + "ended_time_ns": 1792831180740805016, + "duration_s": 2.075e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831180741417184, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831180679220237, + "frame_age_s": 0.062222373, + "heartbeat_age_s": 0.046028093, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180741446702, + "duration_s": 2.9518e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831180741448295, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.87072753729528, + "sample_observed_time_ns": 1792831180687475738, + "sample_age_s": 0.053979557, + "heartbeat_age_s": 0.046052223, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180741458591, + "duration_s": 1.0296e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831180741462962, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831180741554480, + "duration_s": 9.1518e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831180732196867, + "ended_time_ns": 1792831180834008779, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163924_00026", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "50fdb681fddb4907a06cac654912d65c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831180834023646, + "ended_time_ns": 1792831180846040885, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "timing": { + "server_start_request_time_ns": 1792831164490865534, + "subprocess_popen_time_ns": 1792831164495716026, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831164521620264, + "validate_start_time_ns": 1792831165499227824, + "session_dir_create_start_time_ns": 1792831164522373587, + "session_dir_create_end_time_ns": 1792831164523480166, + "as5600_init_start_time_ns": 1792831164524853777, + "as5600_init_end_time_ns": 1792831164527302153, + "as5600_zero_start_time_ns": 1792831164529004168, + "as5600_zero_end_time_ns": 1792831165334012600, + "camera_init_start_time_ns": 1792831165335744762, + "camera_init_end_time_ns": 1792831165337976011, + "camera_start_start_time_ns": 1792831165339221069, + "camera_start_end_time_ns": 1792831165340941362, + "camera_first_frame_wait_start_time_ns": 1792831165342686061, + "camera_first_frame_wait_end_time_ns": 1792831165344365243, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831165345903964, + "armed_time_ns": 1792831165496319732, + "waiting_t0_time_ns": 1792831165502277710, + "recording_start_time_ns": 1792831167970894421, + "stop_request_time_ns": 1792831175271214665, + "finalized_time_ns": 1792831176110063769 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831164477501855, + "ended_time_ns": 1792831164477707982, + "duration_s": 0.000206127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831164477505818, + "ok": true, + "ended_time_ns": 1792831164477513226, + "duration_s": 7.408e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831164477515133, + "ok": true, + "ended_time_ns": 1792831164477517855, + "duration_s": 2.722e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831164477518355, + "ok": true, + "ended_time_ns": 1792831164477521151, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831164477521522, + "ok": true, + "ended_time_ns": 1792831164477696945, + "duration_s": 0.000175423 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831164477697964, + "ok": true, + "ended_time_ns": 1792831164477701612, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831164477702168, + "ok": true, + "ended_time_ns": 1792831164477705038, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831164477705464, + "ok": true, + "ended_time_ns": 1792831164477707519, + "duration_s": 2.055e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "50fdb681fddb4907a06cac654912d65c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3115, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831180441211434, + "capture_count": 605, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 262, + "max_queue_depth": 262, + "read_count": 262, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180466354088, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180468340044 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831180184341141, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10650, + "displayed_count": 8427, + "dropped_count": 2221, + "decode_error_count": 0, + "last_receive_time_ns": 1792831180134316439, + "last_frame_time_ns": 1792831180049091416, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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262, + "read_count": 262, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180466354088, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180468340044 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + 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08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": 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"System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831180866969479, + "ended_time_ns": 1792831180877620154, + "duration_s": 0.002564059, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831180865194574, + "ended_time_ns": 1792831180865418386, + "duration_s": 0.000223812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831180865198907, + "ok": true, + "ended_time_ns": 1792831180865210796, + "duration_s": 1.1889e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831180865211815, + "ok": true, + "ended_time_ns": 1792831180865214685, + "duration_s": 2.87e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831180865215129, + "ok": true, + "ended_time_ns": 1792831180865218166, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831180865218555, + "ok": true, + "ended_time_ns": 1792831180865407108, + "duration_s": 0.000188553 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831180865408127, + "ok": true, + "ended_time_ns": 1792831180865411775, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831180865412312, + "ok": true, + "ended_time_ns": 1792831180865415071, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831180865415479, + "ok": true, + "ended_time_ns": 1792831180865417905, + "duration_s": 2.426e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831180867407953, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831180441211434, + "frame_age_s": 0.426239426, + "heartbeat_age_s": 0.399087057, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180867456360, + "duration_s": 4.8407e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831180867458786, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.7508544889055, + "sample_observed_time_ns": 1792831180466354088, + "sample_age_s": 0.40111429, + "heartbeat_age_s": 0.399122649, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180867472452, + "duration_s": 1.3666e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831180867477767, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831180867676153, + "duration_s": 0.000198386 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831180877643013, + "ended_time_ns": 1792831180978759366, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831323208334205, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831316702399310, + "ended_time_ns": 1792831316714346234, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831316714410890, + "ended_time_ns": 1792831316762713108, + "transferred_bytes": 13727, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,727 bytes\nTotal transferred file size: 13,727 bytes\nLiteral data: 13,727 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,862\n\nsent 46 bytes received 13,862 bytes 27,816.00 bytes/sec\ntotal size is 13,727 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831316762906548, + "ended_time_ns": 1792831323206776283, + "transferred_bytes": 14811265, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 14,811,265 bytes\nTotal transferred file size: 14,811,265 bytes\nLiteral data: 14,811,265 bytes\nMatched data: 0 bytes\nFile list size: 232\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 14,815,291\n\nsent 168 bytes received 14,815,291 bytes 1,975,394.53 bytes/sec\ntotal size is 14,811,265 speedup is 1.00" + } + ], + "transferred_bytes": 14824992, + "copied_local_bytes": 15480359, + "started_time_ns": 1792831316702086855, + "ended_time_ns": 1792831323207332018 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831316702958372, + "ended_time_ns": 1792831316717840262, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831316717931043, + "ended_time_ns": 1792831316756874705, + "transferred_bytes": 13737, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,737 bytes\nTotal transferred file size: 13,737 bytes\nLiteral data: 13,737 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,872\n\nsent 46 bytes received 13,872 bytes 27,836.00 bytes/sec\ntotal size is 13,737 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831316757086553, + "ended_time_ns": 1792831317693299549, + "transferred_bytes": 17554286, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 17,554,286 bytes\nTotal transferred file size: 17,554,286 bytes\nLiteral data: 17,554,286 bytes\nMatched data: 0 bytes\nFile list size: 218\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 17,558,970\n\nsent 168 bytes received 17,558,970 bytes 11,706,092.00 bytes/sec\ntotal size is 17,554,286 speedup is 1.00" + } + ], + "transferred_bytes": 17568023, + "copied_local_bytes": 18208651, + "started_time_ns": 1792831316702325206, + "ended_time_ns": 1792831317693507915 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_163941_00027", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832831802414942, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832831343313564, + "ended_time_ns": 1792832831800759215, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832831343313564, + "ended_time_ns": 1792832831568562551, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163941_00027", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163941_00027 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163941_00027\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831186758964146\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831186758964146，vive_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831197542901258，vive_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008192s，first=1792831186767155697，T0=1792831186758964146，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000965s，last=1792831197541936439，Tstop=1792831197542901258，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2156\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00406983687648 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00406983687648 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2156，metadata 2156\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0040696832803 Hz，最低 150.0 Hz，时长 10.774780750274658 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0040696832803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006250858306884766s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993459091..1.0000000007606888，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.007241131931788644m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.3724284966671334deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=431 duration=10.775s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=431，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 431，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=430，rows=431，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=431，monotonic违规=0，估算频率=40.02525623454637Hz，最大间隔=0.032156411s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 431，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0252581644231 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0252581644231 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032156486s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 647，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 10.3803..99.4399\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 647，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997737276396 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997737276396 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019620585s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=647，bad_rows=0，monotonic违规=0，估算频率=59.99997757895575Hz，最大间隔=0.019620899s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 431，metadata 431\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 647，metadata 647\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 431，timestamps 431，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=431，timestamps=431，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.775s，timestamps=10.743216151999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=10.743216151999997s，clamp=10.766670727s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831186758964146，pi_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831197542901258，pi_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.016602s，first=1792831186775566635，T0=1792831186758964146，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011843s，first=1792831186770807253，T0=1792831186758964146，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.024118s，last=1792831197518782787，Tstop=1792831197542901258，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005423s，last=1792831197537477980，Tstop=1792831197542901258，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.031565s，vive=10.774780742s，camera=10.743216151999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.008110s，vive=10.774780742s，clamp=10.766670727s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.008411s，vive_first=1792831186767155697，camera_first=1792831186775566635，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003652s，vive_first=1792831186767155697，clamp_first=1792831186770807253，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.023154s，vive_last=1792831197541936439，camera_last=1792831197518782787，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.004458s，vive_last=1792831197541936439，clamp_last=1792831197537477980，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832831569023483, + "ended_time_ns": 1792832831800759215, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_163941_00027", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_163941_00027 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163941_00027\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831186758964146\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831186758964146，vive_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831197542901258，vive_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008192s，first=1792831186767155697，T0=1792831186758964146，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000965s，last=1792831197541936439，Tstop=1792831197542901258，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2156\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00406983687648 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00406983687648 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2156，metadata 2156\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0040696832803 Hz，最低 150.0 Hz，时长 10.774780750274658 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0040696832803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006250858306884766s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993683492..1.0000000005830594，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.04602970066448077m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.9770610345262565deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=432 duration=10.8s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=432，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 432，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=431，rows=432，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=432，monotonic违规=0，估算频率=40.02415004095574Hz，最大间隔=0.032577577s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 432，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02415203686722 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02415203686722 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032577596s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 647，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 34.2865..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 647，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99995761736743 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99995761736743 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018822663s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=647，bad_rows=0，monotonic违规=0，估算频率=59.999960609932984Hz，最大间隔=0.018823033s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 432，metadata 432\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 647，metadata 647\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 432，timestamps 432，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=432，timestamps=432，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.8s，timestamps=10.768497970999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=10.768497970999995s，clamp=10.766674271999994s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831186758964146，pi_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831197542901258，pi_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.002975s，first=1792831186761938865，T0=1792831186758964146，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007370s，first=1792831186766334123，T0=1792831186758964146，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.012464s，last=1792831197530436836，Tstop=1792831197542901258，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009893s，last=1792831197533008395，Tstop=1792831197542901258，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006283s，vive=10.774780742s，camera=10.768497970999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.008106s，vive=10.774780742s，clamp=10.766674271999994s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005217s，vive_first=1792831186767155697，camera_first=1792831186761938865，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000822s，vive_first=1792831186767155697，clamp_first=1792831186766334123，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.011500s，vive_last=1792831197541936439，camera_last=1792831197530436836，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.008928s，vive_last=1792831197541936439，clamp_last=1792831197533008395，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163941_00027\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831186758964146\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831186758964146，vive_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831197542901258，vive_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008192s，first=1792831186767155697，T0=1792831186758964146，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000965s，last=1792831197541936439，Tstop=1792831197542901258，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 2156\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00406983687648 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00406983687648 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 2156，metadata 2156\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0040696832803 Hz，最低 150.0 Hz，时长 10.774780750274658 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0040696832803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006250858306884766s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993459091..1.0000000007606888，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.007241131931788644m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.3724284966671334deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=431 duration=10.775s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=431，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 431，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=430，rows=431，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=431，monotonic违规=0，估算频率=40.02525623454637Hz，最大间隔=0.032156411s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 431，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0252581644231 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0252581644231 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032156486s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 647，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 10.3803..99.4399\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 647，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997737276396 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997737276396 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019620585s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=647，bad_rows=0，monotonic违规=0，估算频率=59.99997757895575Hz，最大间隔=0.019620899s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 431，metadata 431\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 647，metadata 647\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 431，timestamps 431，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=431，timestamps=431，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.775s，timestamps=10.743216151999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=10.743216151999997s，clamp=10.766670727s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831186758964146，pi_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831197542901258，pi_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.016602s，first=1792831186775566635，T0=1792831186758964146，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011843s，first=1792831186770807253，T0=1792831186758964146，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.024118s，last=1792831197518782787，Tstop=1792831197542901258，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005423s，last=1792831197537477980，Tstop=1792831197542901258，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.031565s，vive=10.774780742s，camera=10.743216151999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.008110s，vive=10.774780742s，clamp=10.766670727s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.008411s，vive_first=1792831186767155697，camera_first=1792831186775566635，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003652s，vive_first=1792831186767155697，clamp_first=1792831186770807253，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.023154s，vive_last=1792831197541936439，camera_last=1792831197518782787，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.004458s，vive_last=1792831197541936439，clamp_last=1792831197537477980，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_163941_00027\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831186758964146\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831186758964146，vive_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831197542901258，vive_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008192s，first=1792831186767155697，T0=1792831186758964146，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000965s，last=1792831197541936439，Tstop=1792831197542901258，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 2156\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00406983687648 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00406983687648 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 2156，metadata 2156\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0040696832803 Hz，最低 150.0 Hz，时长 10.774780750274658 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0040696832803 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006250858306884766s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993683492..1.0000000005830594，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.04602970066448077m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.9770610345262565deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=432 duration=10.8s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=432，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 432，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=431，rows=432，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=432，monotonic违规=0，估算频率=40.02415004095574Hz，最大间隔=0.032577577s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 432，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02415203686722 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02415203686722 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032577596s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 647，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 34.2865..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 647，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99995761736743 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99995761736743 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018822663s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=647，bad_rows=0，monotonic违规=0，估算频率=59.999960609932984Hz，最大间隔=0.018823033s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 432，metadata 432\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 647，metadata 647\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 432，timestamps 432，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=432，timestamps=432，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=10.8s，timestamps=10.768497970999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=10.768497970999995s，clamp=10.766674271999994s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831186758964146，pi_T0=1792831186758964146，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831197542901258，pi_Tstop=1792831197542901258，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.002975s，first=1792831186761938865，T0=1792831186758964146，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007370s，first=1792831186766334123，T0=1792831186758964146，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.012464s，last=1792831197530436836，Tstop=1792831197542901258，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009893s，last=1792831197533008395，Tstop=1792831197542901258，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006283s，vive=10.774780742s，camera=10.768497970999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.008106s，vive=10.774780742s，clamp=10.766674271999994s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005217s，vive_first=1792831186767155697，camera_first=1792831186761938865，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000822s，vive_first=1792831186767155697，clamp_first=1792831186766334123，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.011500s，vive_last=1792831197541936439，camera_last=1792831197530436836，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.008928s，vive_last=1792831197541936439，clamp_last=1792831197533008395，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_163941_00027_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812790225453 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163941_00027/control/stop_left_hand.flag b/opening and closing/session_20261024_163941_00027/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..09adcbc0a2561048abac5882434565f4af0073fa --- /dev/null +++ b/opening and closing/session_20261024_163941_00027/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831197542901258 \ No newline at end of file diff --git a/opening and closing/session_20261024_163941_00027/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_163941_00027/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee0230f5ead8dcf26449ae91959cbee009617f33 --- /dev/null +++ b/opening 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"clamp_value_max": 99.43985252592776, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 335, + "read_count": 3267, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2380 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..14bcf133cd461ff5abd8c96ba8ece82af60c445c --- /dev/null +++ b/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831181094730613, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_163941_00027", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { 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true, + "ended_time_ns": 1792831180740618719, + "duration_s": 2.593e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831180740619126, + "ok": true, + "ended_time_ns": 1792831180740622237, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831180740622608, + "ok": true, + "ended_time_ns": 1792831180740795460, + "duration_s": 0.000172852 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831180740796460, + "ok": true, + "ended_time_ns": 1792831180740799516, + "duration_s": 3.056e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831180740799979, + "ok": true, + "ended_time_ns": 1792831180740802590, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831180740802941, + "ok": true, + "ended_time_ns": 1792831180740805016, + "duration_s": 2.075e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831180741417184, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831180679220237, + "frame_age_s": 0.062222373, + "heartbeat_age_s": 0.046028093, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180741446702, + "duration_s": 2.9518e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831180741448295, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.87072753729528, + "sample_observed_time_ns": 1792831180687475738, + "sample_age_s": 0.053979557, + "heartbeat_age_s": 0.046052223, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180741458591, + "duration_s": 1.0296e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831180741459721, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831180741461943, + "duration_s": 2.222e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831180741462962, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831180741554480, + "duration_s": 9.1518e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "f896348d763e4a7089ed3478e0fa1a60", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2287, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176106329459, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831180679220237, + "capture_count": 613, + "capture_error_count": 0, + "writer_count": 325, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 276, + "max_queue_depth": 276, + "read_count": 2256, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180687475738, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180695398776 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831180242184843, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10331, + "displayed_count": 10063, + "dropped_count": 267, + "decode_error_count": 0, + "last_receive_time_ns": 1792831180166216085, + "last_frame_time_ns": 1792831180137685979, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176106329459, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831180679220237, + "capture_count": 613, + "capture_error_count": 0, + "writer_count": 325, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 276, + "max_queue_depth": 276, + "read_count": 2256, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180687475738, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180695398776 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181114171071, + "ended_time_ns": 1792831181126191932, + "duration_s": 0.000206519, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181134263637, + "ok": true, + "ended_time_ns": 1792831181134271192, + "duration_s": 7.555e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181134273044, + "ok": true, + "ended_time_ns": 1792831181134275970, + "duration_s": 2.926e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181134276488, + "ok": true, + "ended_time_ns": 1792831181134279414, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181134279785, + "ok": true, + "ended_time_ns": 1792831181134456470, + "duration_s": 0.000176685 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181134457452, + "ok": true, + "ended_time_ns": 1792831181134460637, + "duration_s": 3.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181134461193, + "ok": true, + "ended_time_ns": 1792831181134463878, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181134464248, + "ok": true, + "ended_time_ns": 1792831181134466174, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163941_00027", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163941_00027", + "--control-generation", + "31", + "--ready-token", + "d41b1ed7e90948aa82dd8020f32e12dc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831181153682369, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "timing": { + "server_start_request_time_ns": 1792831181148624986, + "subprocess_popen_time_ns": 1792831181153682369, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181134260063, + "ended_time_ns": 1792831181134466582, + "duration_s": 0.000206519, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181134263637, + "ok": true, + "ended_time_ns": 1792831181134271192, + "duration_s": 7.555e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181134273044, + "ok": true, + "ended_time_ns": 1792831181134275970, + "duration_s": 2.926e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181134276488, + "ok": true, + "ended_time_ns": 1792831181134279414, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181134279785, + "ok": true, + "ended_time_ns": 1792831181134456470, + "duration_s": 0.000176685 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181134457452, + "ok": true, + "ended_time_ns": 1792831181134460637, + "duration_s": 3.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181134461193, + "ok": true, + "ended_time_ns": 1792831181134463878, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181134464248, + "ok": true, + "ended_time_ns": 1792831181134466174, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "d41b1ed7e90948aa82dd8020f32e12dc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + 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"opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 276, + "max_queue_depth": 276, + "read_count": 2256, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180687475738, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180695398776 + }, + "state_path": 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"environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181134263637, + "ok": true, + "ended_time_ns": 1792831181134271192, + "duration_s": 7.555e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181134273044, + "ok": true, + "ended_time_ns": 1792831181134275970, + "duration_s": 2.926e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181134276488, + "ok": true, + "ended_time_ns": 1792831181134279414, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181134279785, + "ok": true, + "ended_time_ns": 1792831181134456470, + "duration_s": 0.000176685 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181134457452, + "ok": true, + "ended_time_ns": 1792831181134460637, + "duration_s": 3.185e-06 + }, + { + "name": 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true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 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.-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": 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], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "d41b1ed7e90948aa82dd8020f32e12dc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "arm_request_id": "6b75b0c505c948e59d58d503b9bc4bbf", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2288, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_163941_00027", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176106329459, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831181153604646, + "capture_count": 632, + "capture_error_count": 0, + "writer_count": 325, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.87072753729528, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 305, + "max_queue_depth": 305, + "read_count": 2285, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831181170811188, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831181176770017 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792831196676789150, + "ended_time_ns": 1792831196701151630, + "capture_stop_time_ns": 1792831197542901258, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_163941_00027", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 233461 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 234987 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141757 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 236041 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 235004 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129772 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163941_00027", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163941_00027", + "--control-generation", + "31", + "--ready-token", + "d41b1ed7e90948aa82dd8020f32e12dc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831198569977797, + "ended_time_ns": 1792831198584263940, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "capture_start_time_ns": 1792831186758964146, + "capture_stop_time_ns": 1792831197542901258, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "timing": { + "server_start_request_time_ns": 1792831181148624986, + "subprocess_popen_time_ns": 1792831181153682369, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831181180789675, + "validate_start_time_ns": 1792831184358110086, + "session_dir_create_start_time_ns": 1792831181181573492, + "session_dir_create_end_time_ns": 1792831181182492365, + "as5600_init_start_time_ns": 1792831181183679053, + "as5600_init_end_time_ns": 1792831181184513740, + "as5600_zero_start_time_ns": 1792831181186129170, + "as5600_zero_end_time_ns": 1792831181995182558, + "camera_init_start_time_ns": 1792831181996487432, + "camera_init_end_time_ns": 1792831181998268325, + "camera_start_start_time_ns": 1792831181999107957, + "camera_start_end_time_ns": 1792831182000402682, + "camera_first_frame_wait_start_time_ns": 1792831182003461912, + "camera_first_frame_wait_end_time_ns": 1792831182006627975, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831182007191995, + "armed_time_ns": 1792831184356962213, + "waiting_t0_time_ns": 1792831184360350703, + "recording_start_time_ns": 1792831186761144748, + "stop_request_time_ns": 1792831196700791988, + "finalized_time_ns": 1792831197547126689 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181134260063, + "ended_time_ns": 1792831181134466582, + "duration_s": 0.000206519, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181134263637, + "ok": true, + "ended_time_ns": 1792831181134271192, + "duration_s": 7.555e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181134273044, + "ok": true, + "ended_time_ns": 1792831181134275970, + "duration_s": 2.926e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181134276488, + "ok": true, + "ended_time_ns": 1792831181134279414, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181134279785, + "ok": true, + "ended_time_ns": 1792831181134456470, + "duration_s": 0.000176685 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181134457452, + "ok": true, + "ended_time_ns": 1792831181134460637, + "duration_s": 3.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181134461193, + "ok": true, + "ended_time_ns": 1792831181134463878, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181134464248, + "ok": true, + "ended_time_ns": 1792831181134466174, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "d41b1ed7e90948aa82dd8020f32e12dc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "arm_request_id": "6b75b0c505c948e59d58d503b9bc4bbf", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2288, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163941_00027", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 31, + "last_bootstrap_time_ns": 1792831198358305490, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831198344058640, + "capture_count": 655, + "capture_error_count": 0, + "writer_count": 431, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12890624999999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831198356325503, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831198361988925 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831198013666339, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10485, + "displayed_count": 10207, + "dropped_count": 276, + "decode_error_count": 0, + "last_receive_time_ns": 1792831197954921067, + "last_frame_time_ns": 1792831197913519003, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_163941_00027", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 31, + "last_bootstrap_time_ns": 1792831198358305490, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831198344058640, + "capture_count": 655, + "capture_error_count": 0, + "writer_count": 431, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12890624999999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831198356325503, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831198361988925 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831198629903981, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831198629903399 + } + }, + "updated_time_ns": 1792831198629904998 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..332a1981a165c04a8bbd17bb436de6cb50d8775d --- /dev/null +++ b/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831181155462604, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831186758964146, + "capture_stop_time_ns": 1792831197542901258, + "effective_capture_stop_time_ns": 1792831197542901258, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + 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"clamp_sample_count": 647, + "clamp_first_sample_time_ns": 1792831186766334123, + "clamp_last_sample_time_ns": 1792831197533008395, + "clamp_actual_hz": 59.9999576173674, + "clamp_value_min": 34.28647529008873, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 430, + "read_count": 1286, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2378 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa6e42b03fa09766ff6b1b70d9d8a3e564c188e --- /dev/null +++ b/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831181104698217, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_163941_00027", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163924_00026", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163924_00026", + "--control-generation", + "30", + "--ready-token", + "50fdb681fddb4907a06cac654912d65c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831181105199312, + "ended_time_ns": 1792831181123749445, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.diagnostics.json", + "capture_start_time_ns": 1792831167970406619, + "capture_stop_time_ns": 1792831176096565024, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163924_00026/right_hand", + "timing": { + "server_start_request_time_ns": 1792831164490865534, + "subprocess_popen_time_ns": 1792831164495716026, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831164521620264, + "validate_start_time_ns": 1792831165499227824, + "session_dir_create_start_time_ns": 1792831164522373587, + "session_dir_create_end_time_ns": 1792831164523480166, + "as5600_init_start_time_ns": 1792831164524853777, + "as5600_init_end_time_ns": 1792831164527302153, + "as5600_zero_start_time_ns": 1792831164529004168, + "as5600_zero_end_time_ns": 1792831165334012600, + "camera_init_start_time_ns": 1792831165335744762, + "camera_init_end_time_ns": 1792831165337976011, + "camera_start_start_time_ns": 1792831165339221069, + "camera_start_end_time_ns": 1792831165340941362, + "camera_first_frame_wait_start_time_ns": 1792831165342686061, + "camera_first_frame_wait_end_time_ns": 1792831165344365243, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831165345903964, + "armed_time_ns": 1792831165496319732, + "waiting_t0_time_ns": 1792831165502277710, + "recording_start_time_ns": 1792831167970894421, + "stop_request_time_ns": 1792831175271214665, + "finalized_time_ns": 1792831176110063769 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831180865114205, + "ended_time_ns": 1792831180867678264, + "duration_s": 0.002564059, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831180865194574, + "ended_time_ns": 1792831180865418386, + "duration_s": 0.000223812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831180865198907, + "ok": true, + "ended_time_ns": 1792831180865210796, + "duration_s": 1.1889e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831180865211815, + "ok": true, + "ended_time_ns": 1792831180865214685, + "duration_s": 2.87e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831180865215129, + "ok": true, + "ended_time_ns": 1792831180865218166, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831180865218555, + "ok": true, + "ended_time_ns": 1792831180865407108, + "duration_s": 0.000188553 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831180865408127, + "ok": true, + "ended_time_ns": 1792831180865411775, + "duration_s": 3.648e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831180865412312, + "ok": true, + "ended_time_ns": 1792831180865415071, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831180865415479, + "ok": true, + "ended_time_ns": 1792831180865417905, + "duration_s": 2.426e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831180867407953, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831180441211434, + "frame_age_s": 0.426239426, + "heartbeat_age_s": 0.399087057, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180867456360, + "duration_s": 4.8407e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831180867458786, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 277.7508544889055, + "sample_observed_time_ns": 1792831180466354088, + "sample_age_s": 0.40111429, + "heartbeat_age_s": 0.399122649, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831180867472452, + "duration_s": 1.3666e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831180867473822, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831180867476378, + "duration_s": 2.556e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831180867477767, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831180867676153, + "duration_s": 0.000198386 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "50fdb681fddb4907a06cac654912d65c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163924_00026.ready.json", + "arm_request_id": "c99dfcc850124c4da4afde3f8c06d4b8", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3115, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831180969382739, + "capture_count": 626, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 292, + "max_queue_depth": 292, + "read_count": 292, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180966341668, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180973337706 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831180184341141, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10650, + "displayed_count": 8427, + "dropped_count": 2221, + "decode_error_count": 0, + "last_receive_time_ns": 1792831180134316439, + "last_frame_time_ns": 1792831180049091416, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831180969382739, + "capture_count": 626, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 292, + "max_queue_depth": 292, + "read_count": 292, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831180966341668, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831180973337706 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181126626178, + "ended_time_ns": 1792831183215140125, + "duration_s": 0.000208905, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181126368608, + "ok": true, + "ended_time_ns": 1792831181126376589, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181126378330, + "ok": true, + "ended_time_ns": 1792831181126381089, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181126381533, + "ok": true, + "ended_time_ns": 1792831181126384478, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181126384830, + "ok": true, + "ended_time_ns": 1792831181126562438, + "duration_s": 0.000177608 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181126563568, + "ok": true, + "ended_time_ns": 1792831181126566846, + "duration_s": 3.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181126567457, + "ok": true, + "ended_time_ns": 1792831181126570272, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181126570605, + "ok": true, + "ended_time_ns": 1792831181126573123, + "duration_s": 2.518e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_163941_00027", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163941_00027", + "--control-generation", + "31", + "--ready-token", + "c8af2edb99ca419196084d25da93c711", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831183221249266, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "timing": { + "server_start_request_time_ns": 1792831183215970371, + "subprocess_popen_time_ns": 1792831183221249266, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181126364885, + "ended_time_ns": 1792831181126573790, + "duration_s": 0.000208905, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181126368608, + "ok": true, + "ended_time_ns": 1792831181126376589, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181126378330, + "ok": true, + "ended_time_ns": 1792831181126381089, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181126381533, + "ok": true, + "ended_time_ns": 1792831181126384478, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181126384830, + "ok": true, + "ended_time_ns": 1792831181126562438, + "duration_s": 0.000177608 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181126563568, + "ok": true, + "ended_time_ns": 1792831181126566846, + "duration_s": 3.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181126567457, + "ok": true, + "ended_time_ns": 1792831181126570272, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181126570605, + "ok": true, + "ended_time_ns": 1792831181126573123, + "duration_s": 2.518e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "c8af2edb99ca419196084d25da93c711", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3116, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831181490334787, + "capture_count": 647, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 324, + "max_queue_depth": 324, + "read_count": 324, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831181499660277, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831181504729230 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831181346010254, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10660, + "displayed_count": 8435, + "dropped_count": 2223, + "decode_error_count": 0, + "last_receive_time_ns": 1792831181306437417, + "last_frame_time_ns": 1792831181211614426, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163924_00026", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831181490334787, + "capture_count": 647, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 324, + "max_queue_depth": 324, + "read_count": 324, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831181499660277, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831181504729230 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792831183218536873, + "ended_time_ns": 1792831183235936379 + }, + "pi_start_request_time_ns": 1792831183235942824, + "capture_start_time_ns": 1792831186758964146, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831196599326158, + "capture_stop_time_ns": 1792831197542901258, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_163941_00027", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163941_00027", + "--control-generation", + "31", + "--ready-token", + "c8af2edb99ca419196084d25da93c711", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831183221249266, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "capture_start_time_ns": 1792831186758964146, + "capture_stop_time_ns": 1792831197542901258, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "timing": { + "server_start_request_time_ns": 1792831183215970371, + "subprocess_popen_time_ns": 1792831183221249266, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831183266315310, + "validate_start_time_ns": 1792831184345044612, + "session_dir_create_start_time_ns": 1792831183269123885, + "session_dir_create_end_time_ns": 1792831183270066724, + "as5600_init_start_time_ns": 1792831183271277282, + "as5600_init_end_time_ns": 1792831183272158364, + "as5600_zero_start_time_ns": 1792831183276605584, + "as5600_zero_end_time_ns": 1792831184140738099, + "camera_init_start_time_ns": 1792831184142199617, + "camera_init_end_time_ns": 1792831184144015001, + "camera_start_start_time_ns": 1792831184144886823, + "camera_start_end_time_ns": 1792831184146196232, + "camera_first_frame_wait_start_time_ns": 1792831184147536604, + "camera_first_frame_wait_end_time_ns": 1792831184148830883, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831184151872510, + "armed_time_ns": 1792831184339988104, + "waiting_t0_time_ns": 1792831184348066591, + "recording_start_time_ns": 1792831186761778256, + "stop_request_time_ns": 1792831196597314901, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181126364885, + "ended_time_ns": 1792831181126573790, + "duration_s": 0.000208905, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181126368608, + "ok": true, + "ended_time_ns": 1792831181126376589, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181126378330, + "ok": true, + "ended_time_ns": 1792831181126381089, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181126381533, + "ok": true, + "ended_time_ns": 1792831181126384478, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181126384830, + "ok": true, + "ended_time_ns": 1792831181126562438, + "duration_s": 0.000177608 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181126563568, + "ok": true, + "ended_time_ns": 1792831181126566846, + "duration_s": 3.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181126567457, + "ok": true, + "ended_time_ns": 1792831181126570272, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181126570605, + "ok": true, + "ended_time_ns": 1792831181126573123, + "duration_s": 2.518e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "c8af2edb99ca419196084d25da93c711", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "arm_request_id": "6b75b0c505c948e59d58d503b9bc4bbf", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3116, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "running", + "session_id": "session_20261024_163941_00027", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 30, + "last_bootstrap_time_ns": 1792831176919513384, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831183241736296, + "capture_count": 717, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 277.7508544889055, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 429, + "max_queue_depth": 429, + "read_count": 429, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831183249660823, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831183262445175 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792831196599635621, + "ended_time_ns": 1792831196612097030, + "capture_stop_time_ns": 1792831197542901258, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_163941_00027", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_163941_00027", + "--control-generation", + "31", + "--ready-token", + "c8af2edb99ca419196084d25da93c711", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831197627122803, + "ended_time_ns": 1792831197640430154, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.diagnostics.json", + "capture_start_time_ns": 1792831186758964146, + "capture_stop_time_ns": 1792831197542901258, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "timing": { + "server_start_request_time_ns": 1792831183215970371, + "subprocess_popen_time_ns": 1792831183221249266, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831183266315310, + "validate_start_time_ns": 1792831184345044612, + "session_dir_create_start_time_ns": 1792831183269123885, + "session_dir_create_end_time_ns": 1792831183270066724, + "as5600_init_start_time_ns": 1792831183271277282, + "as5600_init_end_time_ns": 1792831183272158364, + "as5600_zero_start_time_ns": 1792831183276605584, + "as5600_zero_end_time_ns": 1792831184140738099, + "camera_init_start_time_ns": 1792831184142199617, + "camera_init_end_time_ns": 1792831184144015001, + "camera_start_start_time_ns": 1792831184144886823, + "camera_start_end_time_ns": 1792831184146196232, + "camera_first_frame_wait_start_time_ns": 1792831184147536604, + "camera_first_frame_wait_end_time_ns": 1792831184148830883, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831184151872510, + "armed_time_ns": 1792831184339988104, + "waiting_t0_time_ns": 1792831184348066591, + "recording_start_time_ns": 1792831186761778256, + "stop_request_time_ns": 1792831196599316524, + "finalized_time_ns": 1792831197548405862 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831181126364885, + "ended_time_ns": 1792831181126573790, + "duration_s": 0.000208905, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831181126368608, + "ok": true, + "ended_time_ns": 1792831181126376589, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831181126378330, + "ok": true, + "ended_time_ns": 1792831181126381089, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831181126381533, + "ok": true, + "ended_time_ns": 1792831181126384478, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831181126384830, + "ok": true, + "ended_time_ns": 1792831181126562438, + "duration_s": 0.000177608 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831181126563568, + "ok": true, + "ended_time_ns": 1792831181126566846, + "duration_s": 3.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831181126567457, + "ok": true, + "ended_time_ns": 1792831181126570272, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831181126570605, + "ok": true, + "ended_time_ns": 1792831181126573123, + "duration_s": 2.518e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "c8af2edb99ca419196084d25da93c711", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_163941_00027.ready.json", + "arm_request_id": "6b75b0c505c948e59d58d503b9bc4bbf", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3116, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163941_00027", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 31, + "last_bootstrap_time_ns": 1792831197552773583, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831197530436836, + "capture_count": 536, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.13970822491547, + "gripper_gap_mm": 83.14544180913684, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 430, + "read_count": 1287, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831197549665049, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831197557604853 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831197407572136, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10799, + "displayed_count": 8526, + "dropped_count": 2272, + "decode_error_count": 0, + "last_receive_time_ns": 1792831197346794240, + "last_frame_time_ns": 1792831197368142296, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_163941_00027", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 31, + "last_bootstrap_time_ns": 1792831197552773583, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831197530436836, + "capture_count": 536, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.13970822491547, + "gripper_gap_mm": 83.14544180913684, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 430, + "read_count": 1287, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831197549665049, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831197557604853 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792831197643436821 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..564f32fd924f570cb7f3c3d33ed530ff45233106 --- /dev/null +++ b/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831181155476137, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831186758964146, + "capture_stop_time_ns": 1792831197542901258, + "effective_capture_stop_time_ns": 1792831197542901258, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_163941_00027/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.13002309203147888, + "y0": -0.7400906682014465, + "z0": -1.0302734375, + "qx0": 0.15021812598267895, + "qy0": 0.6699181288207764, + "qz0": -0.14718661359454788, + "qw0": 0.7120255024099144 + }, + "zero_reference_sample_ns": 1792831186767155697 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 2156, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + 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"192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "9fa96a44daa444dea246f1dc5f442979", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.ready.json", + "arm_request_id": "ce3889d1106a41fda3c12ca3f0a1e9fe", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2290, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831234919742266, + "capture_count": 611, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 110, + "max_queue_depth": 110, + "read_count": 110, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831234927430563, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831234929391827 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831235039159945, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10804, + "displayed_count": 10508, + "dropped_count": 295, + "decode_error_count": 0, + "last_receive_time_ns": 1792831234956377596, + "last_frame_time_ns": 1792831234955280186, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831234919742266, + "capture_count": 611, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 110, + "max_queue_depth": 110, + "read_count": 110, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831234927430563, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831234929391827 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831235343475866, + "ended_time_ns": 1792831235353052087, + "duration_s": 0.001127373, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235362776878, + "ended_time_ns": 1792831235363004990, + "duration_s": 0.000228112, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235362780952, + "ok": true, + "ended_time_ns": 1792831235362788989, + "duration_s": 8.037e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235362789915, + "ok": true, + "ended_time_ns": 1792831235362792897, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235362793304, + "ok": true, + "ended_time_ns": 1792831235362796249, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235362796600, + "ok": true, + "ended_time_ns": 1792831235362993434, + "duration_s": 0.000196834 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235362994860, + "ok": true, + "ended_time_ns": 1792831235362998897, + "duration_s": 4.037e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235362999508, + "ok": true, + "ended_time_ns": 1792831235363001990, + "duration_s": 2.482e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235363002471, + "ok": true, + "ended_time_ns": 1792831235363004582, + "duration_s": 2.111e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831235363662232, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831234919742266, + "frame_age_s": 0.443949559, + "heartbeat_age_s": 0.434282868, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831235363695992, + "duration_s": 3.376e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831235363697695, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.865234375, + "sample_observed_time_ns": 1792831234927430563, + "sample_age_s": 0.436274484, + "heartbeat_age_s": 0.434308665, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831235363708288, + "duration_s": 1.0593e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831235363712732, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831235363817658, + "duration_s": 0.000104926 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831235353064482, + "ended_time_ns": 1792831235443367680, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_164018_00029", + "pid": 1095, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164018_00029", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_164018_00029", + "--control-generation", + "33", + "--ready-token", + "57d8a97cfff94f29bd075869da7fc357", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831235443381923, + "ended_time_ns": 1792831235455344580, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.diagnostics.json", + "capture_start_time_ns": 1792831222294641295, + "capture_stop_time_ns": 1792831233087627074, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164018_00029", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164018_00029/right_hand", + "timing": { + "server_start_request_time_ns": 1792831218752760513, + "subprocess_popen_time_ns": 1792831218817230268, + "process_entry_time_ns": 1781523806981395897, + "module_import_start_time_ns": 1781523807040276262, + "import_log_utils_start_time_ns": 1781523807040277781, + "import_log_utils_end_time_ns": 1781523807042397558, + "import_as5600_start_time_ns": 1781523807042398355, + "import_as5600_end_time_ns": 1781523807087740729, + "import_pi_session_start_time_ns": 1781523807087742284, + "import_pi_session_end_time_ns": 1781523807167608833, + "import_usb_camera_start_time_ns": 1781523807167610074, + "import_usb_camera_end_time_ns": 1781523807206944779, + "configure_stdio_start_time_ns": 1781523807260439173, + "configure_stdio_end_time_ns": 1781523807260729208, + "capture_entry_time_ns": 1792831218827139269, + "validate_start_time_ns": 1792831219828490873, + "session_dir_create_start_time_ns": 1792831218827906759, + "session_dir_create_end_time_ns": 1792831218828850228, + "as5600_init_start_time_ns": 1792831218829879659, + "as5600_init_end_time_ns": 1792831218830820351, + "as5600_zero_start_time_ns": 1792831218832221240, + "as5600_zero_end_time_ns": 1792831219642411993, + "camera_init_start_time_ns": 1792831219643851327, + "camera_init_end_time_ns": 1792831219648279880, + "camera_start_start_time_ns": 1792831219652627750, + "camera_start_end_time_ns": 1792831219654316098, + "camera_first_frame_wait_start_time_ns": 1792831219716133332, + "camera_first_frame_wait_end_time_ns": 1792831219719386771, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831219720612533, + "armed_time_ns": 1792831219826826728, + "waiting_t0_time_ns": 1792831219829948261, + "recording_start_time_ns": 1792831222295013518, + "stop_request_time_ns": 1792831232119296365, + "finalized_time_ns": 1792831233093530599 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831218742305741, + "ended_time_ns": 1792831218742940548, + "duration_s": 0.000634807, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831218742315463, + "ok": true, + "ended_time_ns": 1792831218742339296, + "duration_s": 2.3833e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831218742344222, + "ok": true, + "ended_time_ns": 1792831218742349278, + "duration_s": 5.056e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831218742349741, + "ok": true, + "ended_time_ns": 1792831218742357296, + "duration_s": 7.555e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831218742357666, + "ok": true, + "ended_time_ns": 1792831218742923455, + "duration_s": 0.000565789 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831218742926029, + "ok": true, + "ended_time_ns": 1792831218742933566, + "duration_s": 7.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831218742934400, + "ok": true, + "ended_time_ns": 1792831218742937363, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831218742937789, + "ok": true, + "ended_time_ns": 1792831218742939974, + "duration_s": 2.185e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830042374228026, + "ended_time_ns": 1792830042601019125 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.673659179000026, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047248331184, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000089661 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023481332 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047248333239, + "ended_time_ns": 1792830047256749805 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000089661 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023481332 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.9661e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023481332 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047256753713, + "ended_time_ns": 1792830047259103980 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,259869314+08:00\n", + "stderr": "", + "started_time_ns": 1792830047259109166, + "ended_time_ns": 1792830047261171442 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830047305383146, + "ended_time_ns": 1792830047329652906 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "57d8a97cfff94f29bd075869da7fc357", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.ready.json", + "arm_request_id": "ce3889d1106a41fda3c12ca3f0a1e9fe", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523806936850498, + "worker_session_count": 3118, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233903998015, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831235406574312, + "capture_count": 631, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.14453125255324, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831235418526990, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831235422626326 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1708, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829951016700500, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831234467036127, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 11121, + "displayed_count": 8739, + "dropped_count": 2380, + "decode_error_count": 0, + "last_receive_time_ns": 1792831234420278309, + "last_frame_time_ns": 1792831234368373761, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1095, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807262705190, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233903998015, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, + "stream_last_frame_time_ns": 1792831235406574312, + "capture_count": 631, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 278.14453125255324, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831235418526990, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831235422626326 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1095, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.00011101, + "last_offset_s": -0.00011101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830047274705472, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:46 2026\nSystem time : 0.000086690 seconds slow of NTP time\nLast offset : -0.000111010 seconds\nRMS offset : 0.000111010 seconds\nFrequency : 12.989 ppm fast\nResidual freq : +198.963 ppm\nSkew : 34.723 ppm\nRoot delay : 0.037887271 seconds\nRoot dispersion : 0.023487613 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830047274706361, + "ended_time_ns": 1792830047289859031 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:46 2026", + "System time": "0.000086690 seconds slow of NTP time", + "Last offset": "-0.000111010 seconds", + "RMS offset": "0.000111010 seconds", + "Frequency": "12.989 ppm fast", + "Residual freq": "+198.963 ppm", + "Skew": "34.723 ppm", + "Root delay": "0.037887271 seconds", + "Root dispersion": "0.023487613 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 8.669e-05, + "Last offset seconds": -0.00011101, + "RMS offset seconds": 0.00011101, + "Root delay seconds": 0.037887271, + "Root dispersion seconds": 0.023487613 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830047289862328, + "ended_time_ns": 1792830047292557389 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 -86us[ -197us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:47,293107091+08:00\n", + "stderr": "", + "started_time_ns": 1792830047292560537, + "ended_time_ns": 1792830047294278594 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831235480256166, + "ended_time_ns": 1792831235491196801, + "duration_s": 0.001383056, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235478218640, + "ended_time_ns": 1792831235478522655, + "duration_s": 0.000304015, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235478226455, + "ok": true, + "ended_time_ns": 1792831235478236937, + "duration_s": 1.0482e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235478237974, + "ok": true, + "ended_time_ns": 1792831235478241085, + "duration_s": 3.111e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235478241511, + "ok": true, + "ended_time_ns": 1792831235478244862, + "duration_s": 3.351e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235478245233, + "ok": true, + "ended_time_ns": 1792831235478508952, + "duration_s": 0.000263719 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235478509951, + "ok": true, + "ended_time_ns": 1792831235478514340, + "duration_s": 4.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235478514859, + "ok": true, + "ended_time_ns": 1792831235478518840, + "duration_s": 3.981e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235478519192, + "ok": true, + "ended_time_ns": 1792831235478522062, + "duration_s": 2.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831235479342311, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831235406574312, + "frame_age_s": 0.072797795, + "heartbeat_age_s": 0.056728411, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831235479376477, + "duration_s": 3.4166e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831235479378274, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 278.14453125255324, + "sample_observed_time_ns": 1792831235418526990, + "sample_age_s": 0.060858876, + "heartbeat_age_s": 0.056754855, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831235479389292, + "duration_s": 1.1018e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831235479394070, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831235479506902, + "duration_s": 0.000112832 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792831235491218871, + "ended_time_ns": 1792831235586280300, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792831304542542125, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831298963984554, + "ended_time_ns": 1792831298979534745, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831298979693108, + "ended_time_ns": 1792831299036534225, + "transferred_bytes": 13704, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,704 bytes\nTotal transferred file size: 13,704 bytes\nLiteral data: 13,704 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,839\n\nsent 46 bytes received 13,839 bytes 9,256.67 bytes/sec\ntotal size is 13,704 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_154a6dd81406d100.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/'", + "returncode": 0, + "started_time_ns": 1792831299036953534, + "ended_time_ns": 1792831304540817721, + "transferred_bytes": 13930240, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 13,930,240 bytes\nTotal transferred file size: 13,930,240 bytes\nLiteral data: 13,930,240 bytes\nMatched data: 0 bytes\nFile list size: 225\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,934,051\n\nsent 168 bytes received 13,934,051 bytes 2,533,494.36 bytes/sec\ntotal size is 13,930,240 speedup is 1.00" + } + ], + "transferred_bytes": 13943944, + "copied_local_bytes": 14560229, + "started_time_ns": 1792831298963108138, + "ended_time_ns": 1792831304541429870 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792831298965412820, + "ended_time_ns": 1792831298981733047, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792831298981920549, + "ended_time_ns": 1792831299029916972, + "transferred_bytes": 13741, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,741 bytes\nTotal transferred file size: 13,741 bytes\nLiteral data: 13,741 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,876\n\nsent 46 bytes received 13,876 bytes 9,281.33 bytes/sec\ntotal size is 13,741 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_8b319fdbe05c2b56.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/'", + "returncode": 0, + "started_time_ns": 1792831299030508920, + "ended_time_ns": 1792831299970082380, + "transferred_bytes": 16816350, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 16,816,350 bytes\nTotal transferred file size: 16,816,350 bytes\nLiteral data: 16,816,350 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 16,820,856\n\nsent 168 bytes received 16,820,856 bytes 33,642,048.00 bytes/sec\ntotal size is 16,816,350 speedup is 1.00" + } + ], + "transferred_bytes": 16830091, + "copied_local_bytes": 17432178, + "started_time_ns": 1792831298963632628, + "ended_time_ns": 1792831299970663066 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": true, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "opening and closing", + "session_id": "session_20261024_164035_00030", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792832830913961844, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792832830488190519, + "ended_time_ns": 1792832830913598498, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832830488190519, + "ended_time_ns": 1792832830698168069, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_164035_00030", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_164035_00030 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_164035_00030\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831239314598412\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831239314598412，vive_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831249206246555，vive_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007579s，first=1792831239322177437，T0=1792831239314598412，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004117s，last=1792831249202129761，Tstop=1792831249206246555，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1977\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0009651058717 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0009651058717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1977，metadata 1977\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0009629454238 Hz，最低 150.0 Hz，时长 9.879952430725098 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0009629454238 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005335807800292969s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993691716..1.0000000006511311，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.005903063638771045m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.4045177001932956deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=396 duration=9.9s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=396，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 396，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=395，rows=396，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=396，monotonic违规=0，估算频率=40.02393399639143Hz，最大间隔=0.03550079s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 396，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0239345236041 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0239345236041 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.035500586s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 593，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 15.9309..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 593，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.000081940652436 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000081940652436 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018914435s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=593，bad_rows=0，monotonic违规=0，估算频率=60.00008385011718Hz，最大间隔=0.01891562s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 396，metadata 396\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 593，metadata 593\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 396，timestamps 396，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=396，timestamps=396，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.9s，timestamps=9.86909469799999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=9.86909469799999s，clamp=9.866653192000001s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831239314598412，pi_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831249206246555，pi_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.002027s，first=1792831239316625339，T0=1792831239314598412，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.012848s，first=1792831239327446736，T0=1792831239314598412，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020527s，last=1792831249185720037，Tstop=1792831249206246555，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012147s，last=1792831249194099928，Tstop=1792831249206246555，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010858s，vive=9.879952324s，camera=9.86909469799999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.013299s，vive=9.879952324s，clamp=9.866653192000001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005552s，vive_first=1792831239322177437，camera_first=1792831239316625339，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005269s，vive_first=1792831239322177437，clamp_first=1792831239327446736，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.016410s，vive_last=1792831249202129761，camera_last=1792831249185720037，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.008030s，vive_last=1792831249202129761，clamp_last=1792831249194099928，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792832830698562685, + "ended_time_ns": 1792832830913598498, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_164035_00030", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_164035_00030 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_164035_00030\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831239314598412\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831239314598412，vive_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831249206246555，vive_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007579s，first=1792831239322177437，T0=1792831239314598412，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004117s，last=1792831249202129761，Tstop=1792831249206246555，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1977\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0009651058717 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0009651058717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1977，metadata 1977\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0009629454238 Hz，最低 150.0 Hz，时长 9.879952430725098 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0009629454238 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005335807800292969s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994294468..1.0000000005679854，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.04975108663242126m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.450276366355023deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=396 duration=9.9s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=396，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 396，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=395，rows=396，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=396，monotonic违规=0，估算频率=40.02328607067176Hz，最大间隔=0.033674229s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 396，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.023285997675465 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.023285997675465 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033674359s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 594，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.8103..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 594，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00004043375406 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00004043375406 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019810946s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=594，bad_rows=0，monotonic违规=0，估算频率=60.00003537674935Hz，最大间隔=0.019810891s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 396，metadata 396\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 594，metadata 594\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 396，timestamps 396，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=396，timestamps=396，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.9s，timestamps=9.869254613999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.014s，camera=9.869254613999995s，clamp=9.883326673000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831239314598412，pi_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831249206246555，pi_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013788s，first=1792831239328385998，T0=1792831239314598412，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003931s，first=1792831239318528959，T0=1792831239314598412，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.008606s，last=1792831249197640612，Tstop=1792831249206246555，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004391s，last=1792831249201855632，Tstop=1792831249206246555，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010698s，vive=9.879952324s，camera=9.869254613999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003374s，vive=9.879952324s，clamp=9.883326673000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006209s，vive_first=1792831239322177437，camera_first=1792831239328385998，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003648s，vive_first=1792831239322177437，clamp_first=1792831239318528959，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004489s，vive_last=1792831249202129761，camera_last=1792831249197640612，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000274s，vive_last=1792831249202129761，clamp_last=1792831249201855632，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_164035_00030\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001404938s，end=1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=0.001404938s，end=-1.198e-06s，max=0.001404938s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001406136s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831239314598412\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792831239314598412，vive_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831249206246555，vive_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007579s，first=1792831239322177437，T0=1792831239314598412，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004117s，last=1792831249202129761，Tstop=1792831249206246555，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1977\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0009651058717 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0009651058717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1977，metadata 1977\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0009629454238 Hz，最低 150.0 Hz，时长 9.879952430725098 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0009629454238 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005335807800292969s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993691716..1.0000000006511311，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.005903063638771045m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=1.4045177001932956deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=396 duration=9.9s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=396，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 396，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=395，rows=396，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=396，monotonic违规=0，估算频率=40.02393399639143Hz，最大间隔=0.03550079s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 396，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0239345236041 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0239345236041 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.035500586s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 593，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 15.9309..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 593，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.000081940652436 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000081940652436 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018914435s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=593，bad_rows=0，monotonic违规=0，估算频率=60.00008385011718Hz，最大间隔=0.01891562s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 396，metadata 396\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 593，metadata 593\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 396，timestamps 396，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=396，timestamps=396，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.9s，timestamps=9.86909469799999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=9.86909469799999s，clamp=9.866653192000001s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792831239314598412，pi_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831249206246555，pi_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.002027s，first=1792831239316625339，T0=1792831239314598412，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.012848s，first=1792831239327446736，T0=1792831239314598412，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020527s，last=1792831249185720037，Tstop=1792831249206246555，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012147s，last=1792831249194099928，Tstop=1792831249206246555，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010858s，vive=9.879952324s，camera=9.86909469799999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.013299s，vive=9.879952324s，clamp=9.866653192000001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005552s，vive_first=1792831239322177437，camera_first=1792831239316625339，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005269s，vive_first=1792831239322177437，clamp_first=1792831239327446736，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.016410s，vive_last=1792831249202129761，camera_last=1792831249185720037，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.008030s，vive_last=1792831249202129761，clamp_last=1792831249194099928，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_164035_00030\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.00011101s，end=0.000161103s，max=0.000161103s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000272113s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792831239314598412\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792831239314598412，vive_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792831249206246555，vive_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007579s，first=1792831239322177437，T0=1792831239314598412，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004117s，last=1792831249202129761，Tstop=1792831249206246555，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1977\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0009651058717 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0009651058717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1977，metadata 1977\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0009629454238 Hz，最低 150.0 Hz，时长 9.879952430725098 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0009629454238 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005335807800292969s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994294468..1.0000000005679854，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.04975108663242126m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=2.450276366355023deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=396 duration=9.9s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=396，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 396，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=395，rows=396，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=396，monotonic违规=0，估算频率=40.02328607067176Hz，最大间隔=0.033674229s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 396，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.023285997675465 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.023285997675465 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033674359s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 594，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.8103..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 594，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00004043375406 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00004043375406 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019810946s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=594，bad_rows=0，monotonic违规=0，估算频率=60.00003537674935Hz，最大间隔=0.019810891s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 396，metadata 396\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 594，metadata 594\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 396，timestamps 396，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=396，timestamps=396，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=9.9s，timestamps=9.869254613999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.014s，camera=9.869254613999995s，clamp=9.883326673000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792831239314598412，pi_T0=1792831239314598412，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792831249206246555，pi_Tstop=1792831249206246555，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013788s，first=1792831239328385998，T0=1792831239314598412，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003931s，first=1792831239318528959，T0=1792831239314598412，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.008606s，last=1792831249197640612，Tstop=1792831249206246555，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004391s，last=1792831249201855632，Tstop=1792831249206246555，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010698s，vive=9.879952324s，camera=9.869254613999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003374s，vive=9.879952324s，clamp=9.883326673000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006209s，vive_first=1792831239322177437，camera_first=1792831239328385998，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003648s，vive_first=1792831239322177437，clamp_first=1792831239318528959，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004489s，vive_last=1792831249202129761，camera_last=1792831249197640612，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000274s，vive_last=1792831249202129761，clamp_last=1792831249201855632，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/opening and closing/session_20261024_164035_00030_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + }, + "integration_reused_time_ns": 1792832812771431231 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_164035_00030/control/stop_left_hand.flag b/opening and closing/session_20261024_164035_00030/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..642b71c6ba53c7a52510ac73b68594f6694c654a --- /dev/null +++ b/opening and closing/session_20261024_164035_00030/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792831249206246555 \ No newline at end of file diff --git a/opening and closing/session_20261024_164035_00030/left_hand/Clamp_Data/clamp_data_tum.txt b/opening and closing/session_20261024_164035_00030/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..767270b393a3be05a7e33c7c705222d3afac2cdb --- /dev/null +++ b/opening 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396, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 593, + "clamp_first_sample_time_ns": 1792831239327446736, + "clamp_last_sample_time_ns": 1792831249194099928, + "clamp_actual_hz": 60.00008194065245, + "clamp_value_min": 15.930873424908825, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 211, + "read_count": 966, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2223 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_joint_metadata.json b/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fba7d279f7016af8ac6a20ddcdd433cdef53169b --- /dev/null +++ b/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792831235700529335, + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_164035_00030", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "opening and closing", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_164018_00029", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164018_00029", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_164018_00029", + "--control-generation", + "33", + "--ready-token", + "9fa96a44daa444dea246f1dc5f442979", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831235701080644, + "ended_time_ns": 1792831235718295937, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.diagnostics.json", + "capture_start_time_ns": 1792831222294641295, + "capture_stop_time_ns": 1792831233087627074, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164018_00029", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164018_00029/left_hand", + "timing": { + "server_start_request_time_ns": 1792831218816967689, + "subprocess_popen_time_ns": 1792831218824352281, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831218857301953, + "validate_start_time_ns": 1792831219830494147, + "session_dir_create_start_time_ns": 1792831218858183492, + "session_dir_create_end_time_ns": 1792831218860813925, + "as5600_init_start_time_ns": 1792831218861736353, + "as5600_init_end_time_ns": 1792831218862648374, + "as5600_zero_start_time_ns": 1792831218864102914, + "as5600_zero_end_time_ns": 1792831219666226619, + "camera_init_start_time_ns": 1792831219667944771, + "camera_init_end_time_ns": 1792831219670321222, + "camera_start_start_time_ns": 1792831219671201557, + "camera_start_end_time_ns": 1792831219672793172, + "camera_first_frame_wait_start_time_ns": 1792831219675128900, + "camera_first_frame_wait_end_time_ns": 1792831219679012261, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831219682010065, + "armed_time_ns": 1792831219828748310, + "waiting_t0_time_ns": 1792831219832235263, + "recording_start_time_ns": 1792831222298922153, + "stop_request_time_ns": 1792831232144228238, + "finalized_time_ns": 1792831233098142163 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792831235362691619, + "ended_time_ns": 1792831235363818992, + "duration_s": 0.001127373, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235362776878, + "ended_time_ns": 1792831235363004990, + "duration_s": 0.000228112, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235362780952, + "ok": true, + "ended_time_ns": 1792831235362788989, + "duration_s": 8.037e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235362789915, + "ok": true, + "ended_time_ns": 1792831235362792897, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235362793304, + "ok": true, + "ended_time_ns": 1792831235362796249, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235362796600, + "ok": true, + "ended_time_ns": 1792831235362993434, + "duration_s": 0.000196834 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235362994860, + "ok": true, + "ended_time_ns": 1792831235362998897, + "duration_s": 4.037e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235362999508, + "ok": true, + "ended_time_ns": 1792831235363001990, + "duration_s": 2.482e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235363002471, + "ok": true, + "ended_time_ns": 1792831235363004582, + "duration_s": 2.111e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792831235363662232, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792831234919742266, + "frame_age_s": 0.443949559, + "heartbeat_age_s": 0.434282868, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831235363695992, + "duration_s": 3.376e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792831235363697695, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.865234375, + "sample_observed_time_ns": 1792831234927430563, + "sample_age_s": 0.436274484, + "heartbeat_age_s": 0.434308665, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792831235363708288, + "duration_s": 1.0593e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792831235363709380, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792831235363711732, + "duration_s": 2.352e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792831235363712732, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792831235363817658, + "duration_s": 0.000104926 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "9fa96a44daa444dea246f1dc5f442979", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164018_00029.ready.json", + "arm_request_id": "ce3889d1106a41fda3c12ca3f0a1e9fe", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2290, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831235418818162, + "capture_count": 631, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831235427427961, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831235433992088 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831235039159945, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10804, + "displayed_count": 10508, + "dropped_count": 295, + "decode_error_count": 0, + "last_receive_time_ns": 1792831234956377596, + "last_frame_time_ns": 1792831234955280186, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831235418818162, + "capture_count": 631, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831235427427961, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831235433992088 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235721743577, + "ended_time_ns": 1792831235733467147, + "duration_s": 0.000460501, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235744265192, + "ok": true, + "ended_time_ns": 1792831235744294618, + "duration_s": 2.9426e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235744299581, + "ok": true, + "ended_time_ns": 1792831235744305933, + "duration_s": 6.352e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235744306748, + "ok": true, + "ended_time_ns": 1792831235744313470, + "duration_s": 6.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235744315396, + "ok": true, + "ended_time_ns": 1792831235744696879, + "duration_s": 0.000381483 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235744699268, + "ok": true, + "ended_time_ns": 1792831235744704879, + "duration_s": 5.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235744705619, + "ok": true, + "ended_time_ns": 1792831235744708582, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235744709156, + "ok": true, + "ended_time_ns": 1792831235744711156, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_164035_00030", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_164035_00030", + "--control-generation", + "34", + "--ready-token", + "7e260ecd8971467e8a481dcd878421ba", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831235761341789, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "timing": { + "server_start_request_time_ns": 1792831235756412870, + "subprocess_popen_time_ns": 1792831235761341789, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235744251322, + "ended_time_ns": 1792831235744711823, + "duration_s": 0.000460501, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235744265192, + "ok": true, + "ended_time_ns": 1792831235744294618, + "duration_s": 2.9426e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235744299581, + "ok": true, + "ended_time_ns": 1792831235744305933, + "duration_s": 6.352e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235744306748, + "ok": true, + "ended_time_ns": 1792831235744313470, + "duration_s": 6.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235744315396, + "ok": true, + "ended_time_ns": 1792831235744696879, + "duration_s": 0.000381483 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235744699268, + "ok": true, + "ended_time_ns": 1792831235744704879, + "duration_s": 5.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235744705619, + "ok": true, + "ended_time_ns": 1792831235744708582, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235744709156, + "ok": true, + "ended_time_ns": 1792831235744711156, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "7e260ecd8971467e8a481dcd878421ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2291, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831235418818162, + "capture_count": 631, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831235427427961, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831235433992088 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831235039159945, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10804, + "displayed_count": 10508, + "dropped_count": 295, + "decode_error_count": 0, + "last_receive_time_ns": 1792831234956377596, + "last_frame_time_ns": 1792831234955280186, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164018_00029", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831235418818162, + "capture_count": 631, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831235427427961, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831235433992088 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792831235737222424, + "ended_time_ns": 1792831235756638095 + }, + "pi_start_request_time_ns": 1792831235756645246, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/control/stop_left_hand.flag", + "vive_start_time_ns": 1792831235760209590, + "capture_start_time_ns": 1792831239314598412, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792831248335466698, + "capture_stop_time_ns": 1792831249206246555, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_164035_00030", + "pid": 1111, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_164035_00030", + "--control-generation", + "34", + "--ready-token", + "7e260ecd8971467e8a481dcd878421ba", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792831235761341789, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.diagnostics.json", + "capture_start_time_ns": 1792831239314598412, + "capture_stop_time_ns": 1792831249206246555, + "data_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "timing": { + "server_start_request_time_ns": 1792831235756412870, + "subprocess_popen_time_ns": 1792831235761341789, + "process_entry_time_ns": 1789138076587036546, + "module_import_start_time_ns": 1789138076630643755, + "import_log_utils_start_time_ns": 1789138076630645070, + "import_log_utils_end_time_ns": 1789138076632768967, + "import_as5600_start_time_ns": 1789138076632769782, + "import_as5600_end_time_ns": 1789138076670248555, + "import_pi_session_start_time_ns": 1789138076670250130, + "import_pi_session_end_time_ns": 1789138076807201935, + "import_usb_camera_start_time_ns": 1789138076807203027, + "import_usb_camera_end_time_ns": 1789138076855560228, + "configure_stdio_start_time_ns": 1789138076908809308, + "configure_stdio_end_time_ns": 1789138076909125433, + "capture_entry_time_ns": 1792831235796258985, + "validate_start_time_ns": 1792831236858205172, + "session_dir_create_start_time_ns": 1792831235797961637, + "session_dir_create_end_time_ns": 1792831235799517604, + "as5600_init_start_time_ns": 1792831235800482532, + "as5600_init_end_time_ns": 1792831235801292979, + "as5600_zero_start_time_ns": 1792831235802693353, + "as5600_zero_end_time_ns": 1792831236607051378, + "camera_init_start_time_ns": 1792831236608818067, + "camera_init_end_time_ns": 1792831236636608190, + "camera_start_start_time_ns": 1792831236638116972, + "camera_start_end_time_ns": 1792831236641216072, + "camera_first_frame_wait_start_time_ns": 1792831236643124132, + "camera_first_frame_wait_end_time_ns": 1792831236646813178, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792831236649494314, + "armed_time_ns": 1792831236857250096, + "waiting_t0_time_ns": 1792831236860043399, + "recording_start_time_ns": 1792831239317864157, + "stop_request_time_ns": 1792831248357059471, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235744251322, + "ended_time_ns": 1792831235744711823, + "duration_s": 0.000460501, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235744265192, + "ok": true, + "ended_time_ns": 1792831235744294618, + "duration_s": 2.9426e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235744299581, + "ok": true, + "ended_time_ns": 1792831235744305933, + "duration_s": 6.352e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235744306748, + "ok": true, + "ended_time_ns": 1792831235744313470, + "duration_s": 6.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235744315396, + "ok": true, + "ended_time_ns": 1792831235744696879, + "duration_s": 0.000381483 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235744699268, + "ok": true, + "ended_time_ns": 1792831235744704879, + "duration_s": 5.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235744705619, + "ok": true, + "ended_time_ns": 1792831235744708582, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235744709156, + "ok": true, + "ended_time_ns": 1792831235744711156, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "7e260ecd8971467e8a481dcd878421ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.ready.json", + "arm_request_id": "1882effe52d5499e9563f06ba90d5d94", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2291, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "running", + "session_id": "session_20261024_164035_00030", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 33, + "last_bootstrap_time_ns": 1792831233913245307, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831235769057716, + "capture_count": 645, + "capture_error_count": 0, + "writer_count": 432, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + 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"stop_request_time_ns": 1792831248363057060, + "finalized_time_ns": 1792831249213231863 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792831235744251322, + "ended_time_ns": 1792831235744711823, + "duration_s": 0.000460501, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792831235744265192, + "ok": true, + "ended_time_ns": 1792831235744294618, + "duration_s": 2.9426e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792831235744299581, + "ok": true, + "ended_time_ns": 1792831235744305933, + "duration_s": 6.352e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792831235744306748, + "ok": true, + "ended_time_ns": 1792831235744313470, + "duration_s": 6.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792831235744315396, + "ok": true, + "ended_time_ns": 1792831235744696879, + "duration_s": 0.000381483 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792831235744699268, + "ok": true, + "ended_time_ns": 1792831235744704879, + "duration_s": 5.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792831235744705619, + "ok": true, + "ended_time_ns": 1792831235744708582, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792831235744709156, + "ok": true, + "ended_time_ns": 1792831235744711156, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830032073342015, + "ended_time_ns": 1792830032501549589 + } + }, + "wait": { + "ok": true, + "attempts": 12, + "waited_s": 5.683908945000013, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038165100995, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000911100 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024057193 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038165102603, + "ended_time_ns": 1792830038172485900 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000911100 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024057193 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.0009111, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024057193 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038172489192, + "ended_time_ns": 1792830038173939673 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,174471371+08:00\n", + "stderr": "", + "started_time_ns": 1792830038173942503, + "ended_time_ns": 1792830038174579626 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001404938, + "last_offset_s": 0.001404938, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792830038185482758, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 08:20:37 2026\nSystem time : 0.000882461 seconds fast of NTP time\nLast offset : +0.001404938 seconds\nRMS offset : 0.001404938 seconds\nFrequency : 2.426 ppm slow\nResidual freq : -114.982 ppm\nSkew : 38.461 ppm\nRoot delay : 0.037566636 seconds\nRoot dispersion : 0.024060341 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792830038185483534, + "ended_time_ns": 1792830038189915106 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 08:20:37 2026", + "System time": "0.000882461 seconds fast of NTP time", + "Last offset": "+0.001404938 seconds", + "RMS offset": "0.001404938 seconds", + "Frequency": "2.426 ppm slow", + "Residual freq": "-114.982 ppm", + "Skew": "38.461 ppm", + "Root delay": "0.037566636 seconds", + "Root dispersion": "0.024060341 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000882461, + "Last offset seconds": 0.001404938, + "RMS offset seconds": 0.001404938, + "Root delay seconds": 0.037566636, + "Root dispersion seconds": 0.024060341 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms\n^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms\n^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms\n^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792830038189917954, + "ended_time_ns": 1792830038191395490 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 7 1 -9978us[-8573us] +/- 108ms" + }, + { + "state": "^-", + "name": "193.182.111.141", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 193.182.111.141 2 6 7 1 -11ms[-9805us] +/- 110ms" + }, + { + "state": "^-", + "name": "119.28.206.193", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.206.193 2 6 7 1 +3061us[+4466us] +/- 60ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 -231us[+1174us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T16:20:38,191933069+08:00\n", + "stderr": "", + "started_time_ns": 1792830038191398079, + "ended_time_ns": 1792830038192042249 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792830038202202016, + "ended_time_ns": 1792830038231759351 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "7e260ecd8971467e8a481dcd878421ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.ready.json", + "arm_request_id": "1882effe52d5499e9563f06ba90d5d94", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138076480763550, + "worker_session_count": 2291, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164035_00030", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 34, + "last_bootstrap_time_ns": 1792831249215519591, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831249216881687, + "capture_count": 504, + "capture_error_count": 0, + "writer_count": 396, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 84.51055645487104, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 211, + "read_count": 967, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831249210868246, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831249219633730 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1806, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792829979871330464, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 7, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792831248559542740, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 10919, + "displayed_count": 10616, + "dropped_count": 301, + "decode_error_count": 0, + "last_receive_time_ns": 1792831248553989375, + "last_frame_time_ns": 1792831248427591865, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1111, + "worker_state": "idle", + "session_id": "session_20261024_164035_00030", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138076911026278, + "session_count": 34, + "last_bootstrap_time_ns": 1792831249215519591, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829966826258796, + "stream_last_frame_time_ns": 1792831249216881687, + "capture_count": 504, + "capture_error_count": 0, + "writer_count": 396, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.865234375, + "gripper_gap_mm": 84.51055645487104, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 211, + "read_count": 967, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792831249210868246, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792831249219633730 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1111, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 1 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792831249260568721, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792831249260567932 + } + }, + "updated_time_ns": 1792831249260570676 +} \ No newline at end of file diff --git a/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_metadata.json b/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..770cac31c4e07889a838f025aa381679b44d6294 --- /dev/null +++ b/opening and closing/session_20261024_164035_00030/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792831235762920315, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory/raw_vive_pose.txt", + 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closing/session_20261024_164035_00030/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792831239314598412, + "capture_stop_time_ns": 1792831249206246555, + "effective_capture_stop_time_ns": 1792831249206246555, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164035_00030/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.16224351525306702, + "y0": -0.7444831728935242, + "z0": -0.6059678196907043, + "qx0": 0.12542076139622094, + 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true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792831239314598412, + "capture_stop_time_ns": 1792831249206246555, + "effective_capture_stop_time_ns": 1792831249206246555, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164035_00030.diagnostics.json", + 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"仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 278.17016601688664, + "reference_source": "max_open_init", + "zero_angle_deg": 278.17016601688664, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 7.685e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792831239320567303, + "camera_frame_count": 396, + "camera_started_time_ns": 1792831236654755228, + "camera_stopped_time_ns": 1792831249210348299, + "camera_actual_fps": 31.539728769535557, + "camera_first_frame_time_ns": 1792831239328385998, + "camera_last_frame_time_ns": 1792831249197640612, + "camera_frame_timestamp_fps": 40.023285997675444, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792829938787648391, 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"read_count": 967, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 2231 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file